Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer Supervisor::createTask() - externalCommsServer S: Initializing worksiteServer upervisor: WorkSite::WorkSite -- Adding attributes ::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/workSite.cfg createTask() - navigationServer S: Using default vehicle config file "/home/dorado1/auv-qnx/auv/altex/onboard/config/docking/vehicle.cfg" upervisor::createTask() - layeredControlServer Supervisor::createTask() - dynamicControlServer : WorkSite::WorkSite -- Finished loading parameters : WorkSite::WorkSite -- Starting Depth is 0.000000 meters : 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 : 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 : 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 : 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 : 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 : WorkSite server: 0x2300c : New Navigation component constructor Supervisor::createTask() - newTailConeServer Supervisor::createTask() - m3dmgx1Server Supervisor::createTask() - gpsServer Supervisor::createTask() - parosciSer: Preparing to fork ver : Navigation - Using only the Dvl to compute altitude. : Navigation: Opening Acoustic Modem Interface: : SerialDevice: done... : I'm the child...forking Super: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts visor::: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts crea: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts teTa: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts sk(: SerialDevice: done... ) - dvlServer : SerialDevice: done... Supervisor::createTask() - dropWeightServer Superv: SerialDevice: done... isor::createTask() - sonardyneServer : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : SerialDevice: done... Su: SerialDevice: done... pervi: Crossbow.cc: In getSerialNumber() sor::createTask() - cameraServer : SerialDevice: done... Superv: SerialDevice: done... isor::createTask() - echoSounderServer : Gps: initializing : SerialDevice: done... : SerialDevice: done... Supervisor::createTask() - benthosServer : SerialDevice: done... Supervisor::createTask(): SonardyneServer.cc was last compiled on Jan 25 2010, 19:16:17 - terrainAidServer : SerialDevice: done... : Crossbow.cc: device->read succeeded : m3dmgx1: Serial Number is 6380 : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : SerialDevice: done... : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : Navigation: acommsIF = 0x72ae8 : ahrs if is Ahrs : SerialDevice: done... : SonardyneDriver.cc was last compiled on Jan 25 2010, 19:16:13 : CameraDriver:: Before navigation IF. : CameraDriver enabling 12V camera power supply : PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200 : SerialDeviceDriver::initialize() : Starting DVL Initialization. : SerialDevice: done... : SerialDevice: done... : 3 Modules found : SerialDevice: done... : SerialDevice: done... : BenthosModem::commandMode() - confirming... : Set verbose level : DepthEnvelope - Error. maxLowerPitch must be a postive number. Flipping the sign now. : maxLowerPitch = 1745.31 : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : SonardyneDriver -- configuration: PingDelay = 400 ms PresetGain = 1 PowerLevel = 0 LblWait = 3 s ESV = 1490.000000 m/s Beacon = V4,5 MRPL = 2 ms : EchoSounder -- configuration: Maximum Range = 100 m StartGain = 20 dB Absorption = 0.20 dB/m Pulse Length = 270 microseconds Minimum Range = 0.00 m Trigger Control= 0 Profile = 1 Delay = 0 milliseconds xz mounting an.= 90.00 degrees Head angle = -90.00 degrees Sector angle = 0.00 degrees Step size = 2.40 degrees Acoustic Freq = 675 kHz Ping period = 1.00 seconds : Scaled and shifted frequency = 100 : Configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/terrainAid.cfg : Set write delay : TerrainAid -- configuration: : mapFileName = SoquelCanyonMAUVUTMTopo_NoNan.grd : vehicleCfgName = mappingAUV_specs.cfg : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : dvlFileName = rdiDVL_specs.cfg : resonCfgName = resonSeabat8101_specs.cfg : samplePeriod = 3000 : maxNorthingCov = -1.00 : maxEastingCov = -1.00 : maxNorthingError = -1.00 : maxEastingError = -1.00 : AshtechGps::processRecord() - ,3648.65929,N,12158.30313,W,1,09,0.9,-8.96,M,-32.92,M,,*77 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 1 : **** EventTriggers::add() - attaching proxy : Vehicle configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/mappingAUV_specs.cfg : NMEA Update: $GPGGA,200703.61,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5d : Set remote response waiting time : Dvl configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/rdiDVL_specs.cfg : CR1 [Parameters set to FACTORY defaults] > : PD5 > : BK1 > : TP00:00.20 > : TE00:00:00.60 > : BL,10,010,100 > : BP001 > : 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 : 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 : Turn on doppler correction : BenthosModem::onlineMode() - confirming... : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : done initializing modem : PeriodicTask::run() (BenthosModem) - sampleInterval=1000, maxInterval=1000 : AshtechGps::processRecord() - $GPGGA,200705.00,3648.65945,N,12158.30312,W,1,09,0.9,-9.31,M,-32.92,M,,*71 : NMEA Update: $GPGGA,200704.61,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5a : header is >CS 7 : Dvl record header not found. Resynchronize. : AshtechGps::processRecord() - $GPGGA,200706.00,3648.65923,N,12158.30352,W,1,09,0.9,-8.86,M,-32.92,M,,*7B : Dvl:: Serial resynchronization completed. : **** EventTriggers::add() - attaching proxy : NMEA Update: $GPGGA,200705.61,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5b : AshtechGps::processRecord() - $GPGGA,200707.00,3648.65907,N,12158.30379,W,1,09,0.9,-8.11,M,-32.92,M,,*7B : NMEA Update: $GPGGA,200706.61,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*58 : AshtechGps::processRecord() - $GPGGA,200708.00,3648.65904,N,12158.30342,W,1,09,0.9,-6.87,M,-32.92,M,,*7E : NMEA Update: $GPGGA,200707.61,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*59 : AshtechGps::processRecord() - $GPGGA,200709.00,3648.65856,N,12158.30271,W,1,09,0.9,-5.96,M,-32.92,M,,*7B : NMEA Update: $GPGGA,200708.61,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : AshtechGps::processRecord() - $GPGGA,200710.00,3648.65839,N,12158.30148,W,1,09,0.9,-5.95,M,-32.92,M,,*70 : NMEA Update: $GPGGA,200709.61,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : Parosci.cc -- Initial pressure = 1.103162 : Parosci.cc -- Parosci initial pressure period = 30.138680 : Parosci.cc -- Parosci initial temp period = 5.842062 : Parosci.cc -- Paroscientific configured. : AshtechGps::processRecord() - $GPGGA,200711.00,3648.65835,N,12158.30062,W,1,09,0.9,-6.83,M,-32.92,M,,*70 : **** EventTriggers::add() - attaching proxy : NMEA Update: $GPGGA,200710.61,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5f : AshtechGps::processRecord() - $GPGGA,200712.00,3648.65822,N,12158.30051,W,1,09,0.9,-7.69,M,-32.92,M,,*70 : NMEA Update: $GPGGA,200711.61,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5e : AshtechGps::processRecord() - $GPGGA,200713.00,3648.65832,N,12158.30041,W,1,09,0.9,-8.67,M,-32.92,M,,*70 : NMEA Update: $GPGGA,200712.61,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5d : AshtechGps::processRecord() - $GPGGA,200714.00,3648.65826,N,12158.30076,W,1,09,0.9,-9.97,M,-32.92,M,,*78 : NMEA Update: $GPGGA,200713.61,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5c : AshtechGps::processRecord() - $GPGGA,200715.00,3648.65820,N,12158.30135,W,1,09,0.9,-10.60,M,-32.92,M,,*49 : NMEA Update: $GPGGA,200714.61,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5b : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : AshtechGps::processRecord() - $GPGGA,200716.00,3648.65812,N,12158.30186,W,1,09,0.9,-10.07,M,-32.92,M,,*42 : NMEA Update: $GPGGA,200715.61,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5a : AshtechGps::processRecord() - $GPGGA,200717.00,3648.65813,N,12158.30202,W,1,09,0.9,-8.70,M,-32.92,M,,*74 : NMEA Update: $GPGGA,200716.61,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*59 : AshtechGps::processRecord() - $GPGGA,200718.00,3648.65821,N,12158.30210,W,1,09,0.9,-8.34,M,-32.92,M,,*79 : NMEA Update: $GPGGA,200717.61,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*58 : AshtechGps::processRecord() - $GPGGA,200719.00,3648.65818,N,12158.30224,W,1,09,0.9,-8.19,M,-32.92,M,,*7A : NMEA Update: $GPGGA,200718.61,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : AshtechGps::processRecord() - $GPGGA,200720.00,3648.65805,N,12158.30197,W,1,09,0.9,-7.82,M,-32.92,M,,*7A : NMEA Update: $GPGGA,200719.61,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : AshtechGps::processRecord() - $GPGGA,200721.00,3648.65759,N,12158.30171,W,1,09,0.9,-6.86,M,-32.92,M,,*70 : NMEA Update: $GPGGA,200720.61,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5c : AshtechGps::processRecord() - $GPGGA,200722.00,3648.65740,N,12158.30102,W,1,09,0.9,-6.79,M,-32.92,M,,*7F : NMEA Update: $GPGGA,200721.61,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5d : AshtechGps::processRecord() - $GPGGA,200723.00,3648.65709,N,12158.30047,W,1,09,0.9,-6.70,M,-32.92,M,,*7A : NMEA Update: $GPGGA,200722.61,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5e : AshtechGps::processRecord() - $GPGGA,200724.00,3648.65717,N,12158.29987,W,1,09,0.9,-7.75,M,-32.92,M,,*7B : NMEA Update: $GPGGA,200723.61,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5f : AshtechGps::processRecord() - $GPGGA,200725.00,3648.65724,N,12158.29997,W,1,09,0.9,-9.04,M,-32.92,M,,*73 : NMEA Update: $GPGGA,200724.61,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*58 : Navigation: Server for aux sensor "Altimeter" not found : Navigation: Server for aux sensor "Velocimeter" not found : Navigation: The utm zone is 10 : Navigation: The lat/long in workSite.cfg, 36.812000, -121.968990 : Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4074513.00, 591962.00 : PeriodicTask::run() () - sampleInterval=200, maxInterval=200 : **** EventTriggers::add() - attaching proxy : GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed : LayeredControl::execute() -- (t = 0.000000) Behavior getgps:-1 has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior depthEnvelope:-1 has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer:-1 has changed to state Active : **** EventTriggers::add() - attaching proxy : *** Mission started *** : AshtechGps::processRecord() - $GPGGA,200726.00,3648.65714,N,12158.30035,W,1,09,0.9,-9.77,M,-32.92,M,,*7E : GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed : NMEA Update: $GPGGA,200725.61,3648.6572,N,-12158.3000,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,200727.00,3648.65705,N,12158.30086,W,1,09,0.9,-9.67,M,-32.92,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed : NMEA Update: $GPGGA,200726.61,3648.6571,N,-12158.3004,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,200728.00,3648.65711,N,12158.30078,W,1,09,0.9,-8.96,M,-32.92,M,,*72 : GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed : NMEA Update: $GPGGA,200727.61,3648.6571,N,-12158.3009,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,200729.00,3648.65698,N,12158.30069,W,1,09,0.9,-8.35,M,-32.92,M,,*7A : GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed : NMEA Update: $GPGGA,200728.61,3648.6571,N,-12158.3008,W,1,03,00.5,079.5,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,200730.00,3648.65678,N,12158.30078,W,1,09,0.9,-8.21,M,-32.92,M,,*79 : GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed : NMEA Update: $GPGGA,200729.61,3648.6570,N,-12158.3007,W,1,03,00.5,078.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200731.00,3648.65643,N,12158.30085,W,1,09,0.9,-7.89,M,-32.92,M,,*7F : GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,200730.61,3648.6567,N,-12158.3008,W,1,03,00.5,082.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200732.00,3648.65656,N,12158.30061,W,1,10,0.8,-7.45,M,-32.92,M,,*7B : GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed : NMEA Update: $GPGGA,200731.61,3648.6564,N,-12158.3008,W,1,03,00.5,079.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,200733.00,3648.65642,N,12158.30038,W,1,10,0.8,-7.10,M,-32.92,M,,*73 : GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed : NMEA Update: $GPGGA,200732.61,3648.6565,N,-12158.3006,W,1,03,00.5,080.9,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,200734.00,3648.65641,N,12158.30002,W,1,10,0.8,-7.06,M,-32.92,M,,*79 : GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed : LayeredControl::execute() -- (t = 8.399425) Behavior getgps:-1 has changed to state Finished : LayeredControl::execute() -- (t = 8.399425) Behavior setpoint:-1 has changed to state Active : NMEA Update: $GPGGA,200733.61,3648.6564,N,-12158.3003,W,1,03,00.5,079.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200735.00,3648.65637,N,12158.29987,W,1,10,0.8,-7.68,M,-32.92,M,,*7D : NMEA Update: $GPGGA,200734.61,3648.6564,N,-12158.3000,W,1,03,00.5,080.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200736.00,3648.65637,N,12158.29992,W,1,10,0.8,-8.09,M,-32.92,M,,*72 : NMEA Update: $GPGGA,200735.61,3648.6563,N,-12158.2999,W,1,03,00.5,078.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200737.00,3648.65641,N,12158.30014,W,1,10,0.8,-7.99,M,-32.92,M,,*7B : NMEA Update: $GPGGA,200736.61,3648.6564,N,-12158.2999,W,1,03,00.5,080.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200738.00,3648.65637,N,12158.30017,W,1,10,0.8,-8.13,M,-32.92,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200737.61,3648.6564,N,-12158.3002,W,1,03,00.5,081.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200739.00,3648.65614,N,12158.30049,W,1,10,0.8,-8.05,M,-32.92,M,,*77 : NMEA Update: $GPGGA,200738.61,3648.6563,N,-12158.3002,W,1,03,00.5,078.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200740.00,3648.65585,N,12158.30089,W,1,10,0.8,-8.12,M,-32.92,M,,*78 : NMEA Update: $GPGGA,200739.61,3648.6561,N,-12158.3006,W,1,03,00.5,079.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200741.00,3648.65593,N,12158.30082,W,1,10,0.8,-8.19,M,-32.92,M,,*7E : NMEA Update: $GPGGA,200740.61,3648.6559,N,-12158.3009,W,1,03,00.5,078.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200742.00,3648.65619,N,12158.30068,W,1,10,0.8,-7.87,M,-32.92,M,,*70 : NMEA Update: $GPGGA,200741.61,3648.6559,N,-12158.3008,W,1,03,00.5,082.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200743.00,3648.65629,N,12158.30089,W,1,10,0.8,-7.67,M,-32.92,M,,*73 : NMEA Update: $GPGGA,200742.61,3648.6562,N,-12158.3007,W,1,03,00.5,083.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200744.00,3648.65647,N,12158.30107,W,1,10,0.8,-8.41,M,-32.92,M,,*70 : NMEA Update: $GPGGA,200743.61,3648.6563,N,-12158.3009,W,1,03,00.5,079.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200745.00,3648.65640,N,12158.30169,W,1,10,0.8,-8.67,M,-32.92,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200744.61,3648.6565,N,-12158.3012,W,1,03,00.5,079.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200746.00,3648.65623,N,12158.30272,W,1,10,0.8,-8.18,M,-32.92,M,,*7D : NMEA Update: $GPGGA,200745.61,3648.6564,N,-12158.3018,W,1,03,00.5,078.7,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200747.00,3648.65636,N,12158.30325,W,1,10,0.8,-7.51,M,-32.92,M,,*79 : NMEA Update: $GPGGA,200746.61,3648.6563,N,-12158.3029,W,1,03,00.5,079.9,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200748.00,3648.65640,N,12158.30360,W,1,10,0.8,-6.93,M,-32.92,M,,*79 : NMEA Update: $GPGGA,200747.61,3648.6564,N,-12158.3034,W,1,03,00.5,078.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200749.00,3648.65635,N,12158.30367,W,1,10,0.8,-6.83,M,-32.92,M,,*7C : NMEA Update: $GPGGA,200748.61,3648.6564,N,-12158.3036,W,1,03,00.5,079.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200750.00,3648.65609,N,12158.30378,W,1,10,0.8,-7.45,M,-32.92,M,,*7E : NMEA Update: $GPGGA,200749.61,3648.6563,N,-12158.3037,W,1,03,00.5,080.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200751.00,3648.65595,N,12158.30435,W,1,10,0.8,-7.25,M,-32.92,M,,*71 : NMEA Update: $GPGGA,200750.61,3648.6561,N,-12158.3039,W,1,03,00.5,071.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200752.00,3648.65599,N,12158.30487,W,1,10,0.8,-8.57,M,-32.92,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200751.61,3648.6560,N,-12158.3044,W,1,03,00.5,089.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200753.00,3648.65609,N,12158.30562,W,1,10,0.8,-8.48,M,-32.92,M,,*72 : NMEA Update: $GPGGA,200752.61,3648.6560,N,-12158.3050,W,1,03,00.5,079.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200754.00,3648.65697,N,12158.30643,W,1,10,0.8,-8.64,M,-32.92,M,,*7C : NMEA Update: $GPGGA,200753.61,3648.6561,N,-12158.3058,W,1,03,00.5,077.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200755.00,3648.65560,N,12158.30687,W,1,09,0.9,-3.16,M,-32.92,M,,*79 : NMEA Update: $GPGGA,200754.61,3648.6570,N,-12158.3065,W,1,03,00.5,077.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200756.00,3648.65762,N,12158.30438,W,1,10,0.8,-23.35,M,-32.92,M,,*46 : NMEA Update: $GPGGA,200755.61,3648.6556,N,-12158.3069,W,1,03,00.5,082.6,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,200757.00,3648.65486,N,12158.30677,W,1,06,1.3,-13.69,M,-32.92,M,,*40 : NMEA Update: $GPGGA,200756.61,3648.6576,N,-12158.3045,W,1,03,00.5,078.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200758.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200757.61,3648.6549,N,-12158.3070,W,1,03,00.5,082.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200759.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200758.61,3648.6551,N,-12158.3076,W,1,03,00.5,079.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200800.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200759.61,3648.6554,N,-12158.3083,W,1,03,00.5,079.8,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,200801.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200800.61,3648.6557,N,-12158.3089,W,1,03,00.5,079.9,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200802.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200801.61,3648.6559,N,-12158.3094,W,1,03,00.5,079.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200803.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200802.61,3648.6560,N,-12158.3099,W,1,03,00.5,079.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200804.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200803.61,3648.6560,N,-12158.3105,W,1,03,00.5,079.9,M,-99.9,M,,*4c : Behavior setpoint - Timed out! : LayeredControl::execute() -- (t = 38.597356) Behavior setpoint:-1 has changed to state Finished : LayeredControl::execute() -- (t = 38.597356) Behavior descend:-1 has changed to state Active : PeriodicTask::run() (terrainAidDriver) - sampleInterval=3000, maxInterval=3000 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200805.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200804.61,3648.6561,N,-12158.3111,W,1,03,00.5,078.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200806.00,,,,,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,200805.61,3648.6563,N,-12158.3117,W,1,03,00.5,078.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200807.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200806.61,3648.6565,N,-12158.3125,W,1,03,00.5,079.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : TerrainAidDriver:: _navTime0 = 1269979686.64 : TerrainAidDriver:: _dvlTime0 = 72484.96 : TerrainNav update at nav time = 0.000000 : TerrainNav update at dvl time = 0.000000 : _navData-> (x,y) = (4074393.08, 591705.49) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200808.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074393.08 : Estimated East Bias at time = 0.00 : -591705.49 : Estimated Depth Bias at time = 0.00 : -1.27 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,200807.61,3648.6568,N,-12158.3133,W,1,03,00.5,077.3,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,200809.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200808.61,3648.6571,N,-12158.3142,W,1,03,00.5,078.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200810.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200809.61,3648.6574,N,-12158.3152,W,1,03,00.5,077.0,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 = 2.999794 : TerrainNav update at dvl time = 2.999794 : _navData-> (x,y) = (4074394.82, 591701.28) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074394.82 : Estimated East Bias at time = 0.00 : -591701.28 : Estimated Depth Bias at time = 0.00 : -1.74 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,200811.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200810.61,3648.6578,N,-12158.3162,W,1,03,00.5,078.5,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,200812.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200811.61,3648.6581,N,-12158.3171,W,1,03,00.5,076.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200813.00,,,,,0,00,,,M,,M,,*40 : 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,200812.61,3648.6583,N,-12158.3176,W,1,03,00.5,078.9,M,-99.9,M,,*44 : TerrainNav update at nav time = 5.999589 : TerrainNav update at dvl time = 5.999589 : _navData-> (x,y) = (4074396.29, 591697.90) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074396.29 : Estimated East Bias at time = 0.00 : -591697.90 : Estimated Depth Bias at time = 0.00 : -2.86 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,200814.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200813.61,3648.6585,N,-12158.3182,W,1,03,00.5,078.7,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,200815.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200814.61,3648.6585,N,-12158.3188,W,1,03,00.5,080.0,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,200816.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200815.61,3648.6586,N,-12158.3196,W,1,03,00.5,079.1,M,-99.9,M,,*41 : TerrainNav update at nav time = 8.999383 : TerrainNav update at dvl time = 8.999383 : _navData-> (x,y) = (4074396.90, 591694.78) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074396.90 : Estimated East Bias at time = 0.00 : -591694.78 : Estimated Depth Bias at time = 0.00 : -3.86 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,200817.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200816.61,3648.6589,N,-12158.3205,W,1,03,00.5,077.4,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,200818.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200817.61,3648.6593,N,-12158.3213,W,1,03,00.5,076.5,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,200819.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200818.61,3648.6596,N,-12158.3222,W,1,03,00.5,076.9,M,-99.9,M,,*46 : TerrainNav update at nav time = 11.999178 : TerrainNav update at dvl time = 11.999178 : _navData-> (x,y) = (4074398.74, 591690.98) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074398.74 : Estimated East Bias at time = 0.00 : -591690.98 : Estimated Depth Bias at time = 0.00 : -5.14 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,200820.00,,,,,0,00,,,M,,M,,*40 : 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,200819.61,3648.6599,N,-12158.3230,W,1,03,00.5,076.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200821.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200820.61,3648.6602,N,-12158.3240,W,1,03,00.5,075.5,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,200822.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200821.61,3648.6605,N,-12158.3251,W,1,03,00.5,074.5,M,-99.9,M,,*4f : TerrainNav update at nav time = 14.998972 : TerrainNav update at dvl time = 14.998972 : _navData-> (x,y) = (4074400.24, 591686.53) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074400.24 : Estimated East Bias at time = 0.00 : -591686.53 : Estimated Depth Bias at time = 0.00 : -6.07 : 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,200823.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200822.61,3648.6608,N,-12158.3261,W,1,03,00.5,074.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200824.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200823.61,3648.6612,N,-12158.3270,W,1,03,00.5,075.5,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,200825.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200824.61,3648.6614,N,-12158.3278,W,1,03,00.5,073.9,M,-99.9,M,,*4a : TerrainNav update at nav time = 17.998767 : TerrainNav update at dvl time = 17.998767 : _navData-> (x,y) = (4074401.70, 591682.70) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : Estimated North Bias at time = 0.00 : -4074401.70 : Estimated East Bias at time = 0.00 : -591682.70 : Estimated Depth Bias at time = 0.00 : -7.11 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,200826.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200825.61,3648.6615,N,-12158.3284,W,1,03,00.5,074.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200827.00,,,,,0,00,,,M,,M,,*47 : 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,200826.61,3648.6616,N,-12158.3291,W,1,03,00.5,074.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200828.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200827.61,3648.6619,N,-12158.3298,W,1,03,00.5,074.6,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : TerrainNav update at nav time = 20.998562 : TerrainNav update at dvl time = 20.998562 : _navData-> (x,y) = (4074402.87, 591679.49) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074402.87 : Estimated East Bias at time = 0.00 : -591679.49 : Estimated Depth Bias at time = 0.00 : -7.92 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,200829.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200828.61,3648.6623,N,-12158.3308,W,1,03,00.5,074.2,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,200830.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200829.61,3648.6626,N,-12158.3319,W,1,03,00.5,072.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200831.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200830.61,3648.6630,N,-12158.3329,W,1,03,00.5,071.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : TerrainNav update at nav time = 23.998356 : TerrainNav update at dvl time = 23.998356 : _navData-> (x,y) = (4074404.79, 591674.76) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074404.79 : Estimated East Bias at time = 0.00 : -591674.76 : Estimated Depth Bias at time = 0.00 : -9.07 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,200832.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200831.61,3648.6633,N,-12158.3340,W,1,03,00.5,072.2,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,200833.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200832.61,3648.6636,N,-12158.3350,W,1,03,00.5,072.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200834.00,,,,,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,200833.61,3648.6639,N,-12158.3360,W,1,03,00.5,071.3,M,-99.9,M,,*43 : TerrainNav update at nav time = 26.998151 : TerrainNav update at dvl time = 26.998151 : _navData-> (x,y) = (4074406.44, 591670.21) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074406.44 : Estimated East Bias at time = 0.00 : -591670.21 : Estimated Depth Bias at time = 0.00 : -10.11 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,200835.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200834.61,3648.6642,N,-12158.3370,W,1,03,00.5,071.8,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,200836.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200835.61,3648.6645,N,-12158.3378,W,1,03,00.5,071.1,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,200837.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200836.61,3648.6648,N,-12158.3386,W,1,03,00.5,071.5,M,-99.9,M,,*4e : TerrainNav update at nav time = 29.997945 : TerrainNav update at dvl time = 29.997945 : _navData-> (x,y) = (4074407.96, 591666.49) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074407.96 : Estimated East Bias at time = 0.00 : -591666.49 : Estimated Depth Bias at time = 0.00 : -11.19 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,200838.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200837.61,3648.6651,N,-12158.3394,W,1,03,00.5,072.0,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,200839.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200838.61,3648.6654,N,-12158.3403,W,1,03,00.5,070.5,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,200840.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200839.61,3648.6657,N,-12158.3413,W,1,03,00.5,069.9,M,-99.9,M,,*41 : TerrainNav update at nav time = 32.997740 : TerrainNav update at dvl time = 32.997740 : _navData-> (x,y) = (4074409.74, 591662.36) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074409.74 : Estimated East Bias at time = 0.00 : -591662.36 : Estimated Depth Bias at time = 0.00 : -12.28 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,200841.00,,,,,0,00,,,M,,M,,*47 : 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,200840.61,3648.6661,N,-12158.3423,W,1,03,00.5,069.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200842.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200841.61,3648.6664,N,-12158.3432,W,1,03,00.5,069.0,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,200843.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200842.61,3648.6667,N,-12158.3439,W,1,03,00.5,068.9,M,-99.9,M,,*47 : TerrainNav update at nav time = 35.997534 : TerrainNav update at dvl time = 35.997534 : _navData-> (x,y) = (4074411.39, 591658.60) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200844.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074411.39 : Estimated East Bias at time = 0.00 : -591658.60 : Estimated Depth Bias at time = 0.00 : -13.38 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,200843.61,3648.6669,N,-12158.3446,W,1,03,00.5,069.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200845.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200844.61,3648.6672,N,-12158.3454,W,1,03,00.5,069.4,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,200846.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200845.61,3648.6676,N,-12158.3463,W,1,03,00.5,069.1,M,-99.9,M,,*46 : TerrainNav update at nav time = 38.997329 : TerrainNav update at dvl time = 38.997329 : _navData-> (x,y) = (4074413.11, 591654.87) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074413.11 : Estimated East Bias at time = 0.00 : -591654.87 : Estimated Depth Bias at time = 0.00 : -14.42 : 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,200847.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200846.61,3648.6680,N,-12158.3473,W,1,03,00.5,068.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200848.00,,,,,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,200847.61,3648.6684,N,-12158.3484,W,1,03,00.5,066.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200849.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200848.61,3648.6688,N,-12158.3495,W,1,03,00.5,066.0,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 = 41.997123 : TerrainNav update at dvl time = 41.997123 : _navData-> (x,y) = (4074415.24, 591650.01) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074415.24 : Estimated East Bias at time = 0.00 : -591650.01 : Estimated Depth Bias at time = 0.00 : -15.47 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,200850.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200849.61,3648.6691,N,-12158.3505,W,1,03,00.5,067.4,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,200851.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200850.61,3648.6694,N,-12158.3514,W,1,03,00.5,066.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200852.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200851.61,3648.6697,N,-12158.3522,W,1,03,00.5,067.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : TerrainNav update at nav time = 44.996917 : TerrainNav update at dvl time = 44.996917 : _navData-> (x,y) = (4074416.80, 591646.20) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074416.80 : Estimated East Bias at time = 0.00 : -591646.20 : Estimated Depth Bias at time = 0.00 : -16.51 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,200853.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200852.61,3648.6699,N,-12158.3529,W,1,03,00.5,066.4,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,200854.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200853.61,3648.6702,N,-12158.3537,W,1,03,00.5,066.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200855.00,,,,,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,200854.61,3648.6706,N,-12158.3545,W,1,03,00.5,065.5,M,-99.9,M,,*4d : TerrainNav update at nav time = 47.996712 : TerrainNav update at dvl time = 47.996712 : _navData-> (x,y) = (4074418.51, 591642.67) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074418.51 : Estimated East Bias at time = 0.00 : -591642.67 : Estimated Depth Bias at time = 0.00 : -17.40 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,200856.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200855.61,3648.6710,N,-12158.3554,W,1,03,00.5,065.1,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,200857.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200856.61,3648.6714,N,-12158.3562,W,1,03,00.5,064.8,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,200858.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200857.61,3648.6718,N,-12158.3571,W,1,03,00.5,064.6,M,-99.9,M,,*44 : TerrainNav update at nav time = 50.996506 : TerrainNav update at dvl time = 50.996506 : _navData-> (x,y) = (4074420.64, 591638.88) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074420.64 : Estimated East Bias at time = 0.00 : -591638.88 : Estimated Depth Bias at time = 0.00 : -18.29 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,200859.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200858.61,3648.6721,N,-12158.3579,W,1,03,00.5,064.3,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,200900.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200859.61,3648.6725,N,-12158.3587,W,1,03,00.5,064.0,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,200901.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200900.61,3648.6729,N,-12158.3596,W,1,03,00.5,063.6,M,-99.9,M,,*4b : TerrainNav update at nav time = 53.996301 : TerrainNav update at dvl time = 53.996301 : _navData-> (x,y) = (4074422.76, 591635.08) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074422.76 : Estimated East Bias at time = 0.00 : -591635.08 : Estimated Depth Bias at time = 0.00 : -19.33 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,200902.00,,,,,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,200901.61,3648.6733,N,-12158.3605,W,1,03,00.5,063.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200903.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200902.61,3648.6738,N,-12158.3615,W,1,03,00.5,062.7,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,200904.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200903.61,3648.6743,N,-12158.3625,W,1,03,00.5,062.2,M,-99.9,M,,*4a : TerrainNav update at nav time = 56.996095 : TerrainNav update at dvl time = 56.996095 : _navData-> (x,y) = (4074425.27, 591630.62) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200905.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200904.61,3648.6747,N,-12158.3635,W,1,03,00.5,063.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200906.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200905.60,3648.6752,N,-12158.3644,W,1,03,00.5,062.1,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,200907.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200906.60,3648.6756,N,-12158.3652,W,1,03,00.5,062.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : Estimated North Bias at time = 57.00 : -0.26 : Estimated East Bias at time = 57.00 : -0.10 : Estimated Depth Bias at time = 57.00 : -0.14 : Estimated northing and easting = 4074425.01 : 591630.53 : AshtechGps::processRecord() - $GPGGA,200908.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200907.60,3648.6760,N,-12158.3659,W,1,03,00.5,062.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200909.00,,,,,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,200908.60,3648.6765,N,-12158.3666,W,1,03,00.5,062.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200910.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200909.60,3648.6769,N,-12158.3673,W,1,03,00.5,061.8,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 = 62.995685 : TerrainNav update at dvl time = 62.995685 : _navData-> (x,y) = (4074429.99, 591623.55) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200911.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200910.60,3648.6773,N,-12158.3681,W,1,03,00.5,061.5,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,200912.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200911.60,3648.6777,N,-12158.3690,W,1,03,00.5,061.2,M,-99.9,M,,*42 : Estimated North Bias at time = 63.00 : 0.29 : Estimated East Bias at time = 63.00 : -1.66 : Estimated Depth Bias at time = 63.00 : -0.55 : Estimated northing and easting = 4074430.28 : 591621.89 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200913.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200912.60,3648.6782,N,-12158.3699,W,1,03,00.5,060.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : TerrainNav update at nav time = 65.995479 : TerrainNav update at dvl time = 65.995479 : _navData-> (x,y) = (4074432.34, 591619.67) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200914.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200913.60,3648.6786,N,-12158.3708,W,1,03,00.5,059.4,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,200915.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 66.00 : 0.49 : Estimated East Bias at time = 66.00 : -0.72 : Estimated Depth Bias at time = 66.00 : -0.23 : Estimated northing and easting = 4074432.83 : 591618.96 : NMEA Update: $GPGGA,200914.60,3648.6790,N,-12158.3717,W,1,03,00.5,059.5,M,-99.9,M,,*4c : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200916.00,,,,,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,200915.60,3648.6794,N,-12158.3726,W,1,03,00.5,059.1,M,-99.9,M,,*4f : TerrainNav update at nav time = 68.995274 : TerrainNav update at dvl time = 68.995274 : _navData-> (x,y) = (4074434.53, 591615.61) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200917.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200916.60,3648.6798,N,-12158.3735,W,1,03,00.5,058.1,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,200918.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 69.00 : 0.02 : Estimated East Bias at time = 69.00 : -0.26 : Estimated Depth Bias at time = 69.00 : 0.06 : Estimated northing and easting = 4074434.56 : 591615.35 : NMEA Update: $GPGGA,200917.60,3648.6802,N,-12158.3743,W,1,03,00.5,057.7,M,-99.9,M,,*46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200919.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200918.60,3648.6806,N,-12158.3752,W,1,03,00.5,057.8,M,-99.9,M,,*42 : TerrainNav update at nav time = 71.995068 : TerrainNav update at dvl time = 71.995068 : _navData-> (x,y) = (4074436.81, 591611.72) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200920.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200919.60,3648.6810,N,-12158.3760,W,1,03,00.5,057.4,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,200921.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200920.60,3648.6814,N,-12158.3768,W,1,03,00.5,057.6,M,-99.9,M,,*4d : Estimated North Bias at time = 72.00 : -0.24 : Estimated East Bias at time = 72.00 : 0.31 : Estimated Depth Bias at time = 72.00 : 0.02 : Estimated northing and easting = 4074436.57 : 591612.03 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200922.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200921.60,3648.6818,N,-12158.3776,W,1,03,00.5,057.3,M,-99.9,M,,*4a : TerrainNav update at nav time = 74.994863 : TerrainNav update at dvl time = 74.994863 : _navData-> (x,y) = (4074438.88, 591608.18) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200923.00,,,,,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,200922.60,3648.6822,N,-12158.3783,W,1,03,00.5,057.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200924.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200923.60,3648.6825,N,-12158.3792,W,1,03,00.5,056.3,M,-99.9,M,,*4d : Estimated North Bias at time = 74.99 : 0.32 : Estimated East Bias at time = 74.99 : 0.66 : Estimated Depth Bias at time = 74.99 : -0.14 : Estimated northing and easting = 4074439.20 : 591608.83 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200925.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200924.60,3648.6829,N,-12158.3800,W,1,03,00.5,056.0,M,-99.9,M,,*41 : TerrainNav update at nav time = 77.994657 : TerrainNav update at dvl time = 77.994657 : _navData-> (x,y) = (4074440.90, 591604.51) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200926.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200925.60,3648.6833,N,-12158.3808,W,1,03,00.5,055.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200927.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 77.99 : 0.64 : Estimated East Bias at time = 77.99 : 1.56 : Estimated Depth Bias at time = 77.99 : -0.07 : Estimated northing and easting = 4074441.54 : 591606.07 : NMEA Update: $GPGGA,200926.60,3648.6836,N,-12158.3817,W,1,03,00.5,054.7,M,-99.9,M,,*4e : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200928.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200927.60,3648.6840,N,-12158.3825,W,1,03,00.5,055.0,M,-99.9,M,,*49 : TerrainNav update at nav time = 80.994452 : TerrainNav update at dvl time = 80.994452 : _navData-> (x,y) = (4074442.85, 591600.82) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200929.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200928.41,3648.6843,N,-12158.3831,W,1,03,00.5,054.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200930.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200929.41,3648.6847,N,-12158.3839,W,1,03,00.5,053.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : Estimated North Bias at time = 80.99 : 0.39 : Estimated East Bias at time = 80.99 : 2.18 : Estimated Depth Bias at time = 80.99 : 0.10 : Estimated northing and easting = 4074443.24 : 591603.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200931.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200930.41,3648.6850,N,-12158.3847,W,1,03,00.5,054.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : TerrainNav update at nav time = 83.994246 : TerrainNav update at dvl time = 83.994246 : _navData-> (x,y) = (4074444.81, 591597.23) : _tercom->outstandingMeas() = 0 : Descend::execute() - Descend terminating on depth 30.051995 > 30.000000 at time 126.001368 : LayeredControl::execute() -- (t = 126.001368) Behavior descend:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 126.00 (wplog) The current location (N,E) = 4074445.0 , 591597.0 (wplog) The next waypoint = 4074758.7 , 591347.7 (wplog) The bearing to the next w.p. is 321.5 Degrees. : LayeredControl::execute() -- (t = 126.001368) Behavior waypoint:-1 has changed to state Active : AshtechGps::processRecord() - $GPGGA,200932.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200931.41,3648.6854,N,-12158.3856,W,1,03,00.5,053.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200933.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200932.41,3648.6858,N,-12158.3864,W,1,03,00.5,053.3,M,-99.9,M,,*47 : Estimated North Bias at time = 83.99 : 0.35 : Estimated East Bias at time = 83.99 : 2.92 : Estimated Depth Bias at time = 83.99 : 0.25 : Estimated northing and easting = 4074445.16 : 591600.15 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200934.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200933.41,3648.6862,N,-12158.3873,W,1,03,00.5,052.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 86.994040 : TerrainNav update at dvl time = 86.994040 : _navData-> (x,y) = (4074447.19, 591593.42) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200935.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200934.41,3648.6867,N,-12158.3881,W,1,03,00.5,052.6,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200936.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200935.41,3648.6872,N,-12158.3888,W,1,03,00.5,053.4,M,-99.9,M,,*4d : Estimated North Bias at time = 86.99 : -0.76 : Estimated East Bias at time = 86.99 : 3.59 : Estimated Depth Bias at time = 86.99 : 0.28 : Estimated northing and easting = 4074446.43 : 591597.01 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200937.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200936.41,3648.6878,N,-12158.3895,W,1,03,00.5,052.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 89.993835 : TerrainNav update at dvl time = 89.993835 : _navData-> (x,y) = (4074450.09, 591590.30) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200938.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200937.41,3648.6883,N,-12158.3900,W,1,03,00.5,052.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200939.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200938.41,3648.6889,N,-12158.3905,W,1,03,00.5,052.6,M,-99.9,M,,*43 : Estimated North Bias at time = 89.99 : -1.40 : Estimated East Bias at time = 89.99 : 3.03 : Estimated Depth Bias at time = 89.99 : 0.28 : Estimated northing and easting = 4074448.69 : 591593.34 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200940.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200939.41,3648.6896,N,-12158.3910,W,1,03,00.5,052.0,M,-99.9,M,,*4e : TerrainNav update at nav time = 92.993629 : TerrainNav update at dvl time = 92.993629 : _navData-> (x,y) = (4074453.48, 591588.06) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200941.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200940.41,3648.6902,N,-12158.3915,W,1,03,00.5,052.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200942.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200941.41,3648.6909,N,-12158.3920,W,1,03,00.5,052.8,M,-99.9,M,,*4d : Estimated North Bias at time = 92.99 : -3.00 : Estimated East Bias at time = 92.99 : 3.48 : Estimated Depth Bias at time = 92.99 : 0.35 : Estimated northing and easting = 4074450.48 : 591591.55 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200943.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200942.41,3648.6916,N,-12158.3926,W,1,03,00.5,053.0,M,-99.9,M,,*4f : TerrainNav update at nav time = 95.993424 : TerrainNav update at dvl time = 95.993424 : _navData-> (x,y) = (4074457.41, 591585.66) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200944.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200943.41,3648.6924,N,-12158.3931,W,1,03,00.5,053.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200945.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200944.41,3648.6932,N,-12158.3937,W,1,03,00.5,053.0,M,-99.9,M,,*4f : Estimated North Bias at time = 95.99 : -3.07 : Estimated East Bias at time = 95.99 : 3.64 : Estimated Depth Bias at time = 95.99 : 0.37 : Estimated northing and easting = 4074454.34 : 591589.30 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200946.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200945.41,3648.6940,N,-12158.3942,W,1,03,00.5,053.4,M,-99.9,M,,*4d : TerrainNav update at nav time = 98.993218 : TerrainNav update at dvl time = 98.993218 : _navData-> (x,y) = (4074461.79, 591583.26) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200947.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200946.41,3648.6948,N,-12158.3947,W,1,03,00.5,053.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200948.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200947.41,3648.6956,N,-12158.3952,W,1,03,00.5,053.3,M,-99.9,M,,*4e : Estimated North Bias at time = 98.99 : -3.35 : Estimated East Bias at time = 98.99 : 3.54 : Estimated Depth Bias at time = 98.99 : 0.40 : Estimated northing and easting = 4074458.43 : 591586.80 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200949.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200948.41,3648.6964,N,-12158.3957,W,1,03,00.5,053.4,M,-99.9,M,,*42 : TerrainNav update at nav time = 101.993013 : TerrainNav update at dvl time = 101.993013 : _navData-> (x,y) = (4074466.17, 591581.04) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200950.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200949.41,3648.6972,N,-12158.3961,W,1,03,00.5,053.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200951.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200950.41,3648.6979,N,-12158.3966,W,1,03,00.5,054.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 101.99 : -3.85 : Estimated East Bias at time = 101.99 : 3.83 : Estimated Depth Bias at time = 101.99 : 0.47 : Estimated northing and easting = 4074462.31 : 591584.87 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200952.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200951.41,3648.6986,N,-12158.3970,W,1,03,00.5,053.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 105.002807 : TerrainNav update at dvl time = 105.002807 : _navData-> (x,y) = (4074470.15, 591579.15) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200953.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200952.41,3648.6993,N,-12158.3974,W,1,03,00.5,054.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200954.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200953.41,3648.7000,N,-12158.3978,W,1,03,00.5,054.4,M,-99.9,M,,*48 : Estimated North Bias at time = 105.00 : -3.88 : Estimated East Bias at time = 105.00 : 3.80 : Estimated Depth Bias at time = 105.00 : 0.47 : Estimated northing and easting = 4074466.27 : 591582.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200955.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200954.41,3648.7006,N,-12158.3982,W,1,03,00.5,054.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 108.002601 : TerrainNav update at dvl time = 108.002601 : _navData-> (x,y) = (4074473.82, 591577.07) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200956.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200955.41,3648.7013,N,-12158.3988,W,1,03,00.5,054.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200957.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200956.41,3648.7019,N,-12158.3994,W,1,03,00.5,053.6,M,-99.9,M,,*42 : Estimated North Bias at time = 108.00 : -4.48 : Estimated East Bias at time = 108.00 : 4.41 : Estimated Depth Bias at time = 108.00 : 0.48 : Estimated northing and easting = 4074469.34 : 591581.48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200958.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200957.41,3648.7026,N,-12158.4001,W,1,03,00.5,053.7,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 111.002396 : TerrainNav update at dvl time = 111.002396 : _navData-> (x,y) = (4074477.44, 591574.13) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200959.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200958.41,3648.7033,N,-12158.4008,W,1,03,00.5,053.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201000.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200959.41,3648.7039,N,-12158.4016,W,1,03,00.5,052.9,M,-99.9,M,,*45 : Estimated North Bias at time = 111.00 : -5.27 : Estimated East Bias at time = 111.00 : 5.45 : Estimated Depth Bias at time = 111.00 : 0.54 : Estimated northing and easting = 4074472.18 : 591579.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201001.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201000.41,3648.7046,N,-12158.4024,W,1,03,00.5,052.7,M,-99.9,M,,*46 : TerrainNav update at nav time = 114.002190 : TerrainNav update at dvl time = 114.002190 : _navData-> (x,y) = (4074481.08, 591570.65) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201002.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201001.41,3648.7053,N,-12158.4031,W,1,03,00.5,053.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201003.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201002.41,3648.7059,N,-12158.4038,W,1,03,00.5,053.5,M,-99.9,M,,*44 : Estimated North Bias at time = 114.00 : -6.41 : Estimated East Bias at time = 114.00 : 6.32 : Estimated Depth Bias at time = 114.00 : 0.61 : Estimated northing and easting = 4074474.67 : 591576.97 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201004.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201003.41,3648.7066,N,-12158.4045,W,1,03,00.5,053.6,M,-99.9,M,,*40 : TerrainNav update at nav time = 117.001985 : TerrainNav update at dvl time = 117.001985 : _navData-> (x,y) = (4074484.73, 591567.64) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201005.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201004.41,3648.7072,N,-12158.4051,W,1,03,00.5,054.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201006.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201005.41,3648.7078,N,-12158.4056,W,1,03,00.5,054.1,M,-99.9,M,,*4b : Estimated North Bias at time = 117.00 : -6.26 : Estimated East Bias at time = 117.00 : 5.82 : Estimated Depth Bias at time = 117.00 : 0.58 : Estimated northing and easting = 4074478.47 : 591573.45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201007.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201006.41,3648.7084,N,-12158.4061,W,1,03,00.5,053.9,M,-99.9,M,,*40 : TerrainNav update at nav time = 120.001779 : TerrainNav update at dvl time = 120.001779 : _navData-> (x,y) = (4074487.99, 591565.35) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201008.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201007.41,3648.7090,N,-12158.4065,W,1,03,00.5,054.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201009.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201008.41,3648.7095,N,-12158.4071,W,1,03,00.5,054.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 120.00 : -5.73 : Estimated East Bias at time = 120.00 : 5.30 : Estimated Depth Bias at time = 120.00 : 0.54 : Estimated northing and easting = 4074482.26 : 591570.65 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201010.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201009.41,3648.7101,N,-12158.4077,W,1,03,00.5,053.9,M,-99.9,M,,*44 : TerrainNav update at nav time = 123.001574 : TerrainNav update at dvl time = 123.001574 : _navData-> (x,y) = (4074491.16, 591562.62) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201011.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201010.41,3648.7107,N,-12158.4085,W,1,03,00.5,053.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201012.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201011.41,3648.7113,N,-12158.4093,W,1,03,00.5,053.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 123.00 : -5.98 : Estimated East Bias at time = 123.00 : 6.09 : Estimated Depth Bias at time = 123.00 : 0.55 : Estimated northing and easting = 4074485.18 : 591568.71 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201013.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201012.41,3648.7120,N,-12158.4101,W,1,03,00.5,053.2,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 126.001368 : TerrainNav update at dvl time = 126.001368 : _navData-> (x,y) = (4074494.62, 591558.89) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201014.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201013.41,3648.7126,N,-12158.4110,W,1,03,00.5,053.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201015.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201014.41,3648.7133,N,-12158.4119,W,1,03,00.5,053.5,M,-99.9,M,,*4c : Estimated North Bias at time = 126.00 : -6.63 : Estimated East Bias at time = 126.00 : 7.40 : Estimated Depth Bias at time = 126.00 : 0.59 : Estimated northing and easting = 4074487.99 : 591566.29 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201016.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201015.41,3648.7140,N,-12158.4127,W,1,03,00.5,053.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 129.001163 : TerrainNav update at dvl time = 129.001163 : _navData-> (x,y) = (4074498.21, 591555.04) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201017.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201016.41,3648.7146,N,-12158.4135,W,1,03,00.5,053.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201018.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201017.41,3648.7152,N,-12158.4142,W,1,03,00.5,054.2,M,-99.9,M,,*46 : Estimated North Bias at time = 129.00 : -6.97 : Estimated East Bias at time = 129.00 : 7.73 : Estimated Depth Bias at time = 129.00 : 0.60 : Estimated northing and easting = 4074491.24 : 591562.78 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201019.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201018.41,3648.7158,N,-12158.4148,W,1,03,00.5,054.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 132.000957 : TerrainNav update at dvl time = 132.000957 : _navData-> (x,y) = (4074501.57, 591552.12) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201020.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201019.41,3648.7164,N,-12158.4153,W,1,03,00.5,054.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201021.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201020.41,3648.7170,N,-12158.4158,W,1,03,00.5,055.2,M,-99.9,M,,*48 : Estimated North Bias at time = 132.00 : -7.13 : Estimated East Bias at time = 132.00 : 6.89 : Estimated Depth Bias at time = 132.00 : 0.58 : Estimated northing and easting = 4074494.44 : 591559.01 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201022.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201021.41,3648.7176,N,-12158.4163,W,1,03,00.5,054.2,M,-99.9,M,,*46 : TerrainNav update at nav time = 135.000752 : TerrainNav update at dvl time = 135.000752 : _navData-> (x,y) = (4074504.85, 591549.91) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201023.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201022.41,3648.7182,N,-12158.4168,W,1,03,00.5,054.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201024.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201023.41,3648.7189,N,-12158.4175,W,1,03,00.5,053.9,M,-99.9,M,,*4f : Estimated North Bias at time = 135.00 : -7.40 : Estimated East Bias at time = 135.00 : 6.87 : Estimated Depth Bias at time = 135.00 : 0.57 : Estimated northing and easting = 4074497.46 : 591556.78 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201025.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201024.41,3648.7195,N,-12158.4182,W,1,03,00.5,053.8,M,-99.9,M,,*4c : TerrainNav update at nav time = 138.000546 : TerrainNav update at dvl time = 138.000546 : _navData-> (x,y) = (4074508.52, 591546.73) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201026.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201025.41,3648.7202,N,-12158.4191,W,1,03,00.5,053.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201027.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201026.41,3648.7210,N,-12158.4199,W,1,03,00.5,053.7,M,-99.9,M,,*45 : Estimated North Bias at time = 138.00 : -8.15 : Estimated East Bias at time = 138.00 : 7.99 : Estimated Depth Bias at time = 138.00 : 0.59 : Estimated northing and easting = 4074500.37 : 591554.72 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201028.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201027.41,3648.7217,N,-12158.4208,W,1,03,00.5,053.2,M,-99.9,M,,*4d : TerrainNav update at nav time = 141.000341 : TerrainNav update at dvl time = 141.000341 : _navData-> (x,y) = (4074512.40, 591542.91) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201029.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201028.41,3648.7224,N,-12158.4216,W,1,03,00.5,053.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201030.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201029.41,3648.7231,N,-12158.4223,W,1,03,00.5,053.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 141.00 : -8.11 : Estimated East Bias at time = 141.00 : 8.67 : Estimated Depth Bias at time = 141.00 : 0.60 : Estimated northing and easting = 4074504.29 : 591551.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201031.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201030.41,3648.7237,N,-12158.4229,W,1,03,00.5,054.2,M,-99.9,M,,*4d : TerrainNav update at nav time = 144.000135 : TerrainNav update at dvl time = 144.000135 : _navData-> (x,y) = (4074516.15, 591539.81) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201032.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201031.41,3648.7244,N,-12158.4236,W,1,03,00.5,054.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201033.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201032.41,3648.7250,N,-12158.4242,W,1,03,00.5,054.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 144.00 : -8.31 : Estimated East Bias at time = 144.00 : 7.85 : Estimated Depth Bias at time = 144.00 : 0.58 : Estimated northing and easting = 4074507.84 : 591547.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201034.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201033.41,3648.7256,N,-12158.4247,W,1,03,00.5,054.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 146.999930 : TerrainNav update at dvl time = 146.999930 : _navData-> (x,y) = (4074519.60, 591537.13) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201035.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201034.41,3648.7263,N,-12158.4253,W,1,03,00.5,054.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201036.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201035.41,3648.7269,N,-12158.4259,W,1,03,00.5,054.4,M,-99.9,M,,*42 : Estimated North Bias at time = 147.00 : -9.04 : Estimated East Bias at time = 147.00 : 7.21 : Estimated Depth Bias at time = 147.00 : 0.58 : Estimated northing and easting = 4074510.56 : 591544.35 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201037.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201036.41,3648.7276,N,-12158.4265,W,1,03,00.5,054.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 149.999724 : TerrainNav update at dvl time = 149.999724 : _navData-> (x,y) = (4074523.19, 591534.38) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201038.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201037.41,3648.7282,N,-12158.4272,W,1,03,00.5,054.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201039.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201038.41,3648.7290,N,-12158.4279,W,1,03,00.5,053.9,M,-99.9,M,,*41 : Estimated North Bias at time = 150.00 : -10.04 : Estimated East Bias at time = 150.00 : 7.22 : Estimated Depth Bias at time = 150.00 : 0.58 : Estimated northing and easting = 4074513.15 : 591541.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201040.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201039.41,3648.7297,N,-12158.4286,W,1,03,00.5,053.8,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 152.999519 : TerrainNav update at dvl time = 152.999519 : _navData-> (x,y) = (4074527.20, 591531.18) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201041.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201040.41,3648.7305,N,-12158.4294,W,1,03,00.5,053.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201042.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201041.41,3648.7312,N,-12158.4302,W,1,03,00.5,053.7,M,-99.9,M,,*47 : Estimated North Bias at time = 153.00 : -10.90 : Estimated East Bias at time = 153.00 : 8.05 : Estimated Depth Bias at time = 153.00 : 0.60 : Estimated northing and easting = 4074516.30 : 591539.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201043.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201042.41,3648.7319,N,-12158.4309,W,1,03,00.5,053.7,M,-99.9,M,,*44 : TerrainNav update at nav time = 155.999313 : TerrainNav update at dvl time = 155.999313 : _navData-> (x,y) = (4074531.14, 591527.66) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201044.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201043.41,3648.7326,N,-12158.4317,W,1,03,00.5,054.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201045.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201044.41,3648.7332,N,-12158.4323,W,1,03,00.5,054.9,M,-99.9,M,,*4a : Estimated North Bias at time = 156.00 : -11.54 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated East Bias at time = 156.00 : 7.68 : Estimated Depth Bias at time = 156.00 : 0.60 : Estimated northing and easting = 4074519.60 : 591535.34 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201046.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201045.41,3648.7338,N,-12158.4328,W,1,03,00.5,054.5,M,-99.9,M,,*46 : TerrainNav update at nav time = 158.999108 : TerrainNav update at dvl time = 158.999108 : _navData-> (x,y) = (4074534.56, 591525.10) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201047.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201046.41,3648.7344,N,-12158.4333,W,1,03,00.5,054.8,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201048.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201047.41,3648.7351,N,-12158.4338,W,1,03,00.5,054.5,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 159.00 : -12.15 : Estimated East Bias at time = 159.00 : 6.43 : Estimated Depth Bias at time = 159.00 : 0.58 : Estimated northing and easting = 4074522.41 : 591531.53 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201049.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201048.41,3648.7358,N,-12158.4345,W,1,03,00.5,054.2,M,-99.9,M,,*41 : TerrainNav update at nav time = 161.998902 : TerrainNav update at dvl time = 161.998902 : _navData-> (x,y) = (4074538.29, 591522.38) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201050.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201049.41,3648.7365,N,-12158.4352,W,1,03,00.5,053.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201051.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201050.41,3648.7372,N,-12158.4359,W,1,03,00.5,053.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 162.00 : -13.30 : Estimated East Bias at time = 162.00 : 7.26 : Estimated Depth Bias at time = 162.00 : 0.59 : Estimated northing and easting = 4074524.99 : 591529.64 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201052.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201051.41,3648.7380,N,-12158.4367,W,1,03,00.5,053.8,M,-99.9,M,,*41 : TerrainNav update at nav time = 164.998697 : TerrainNav update at dvl time = 164.998697 : _navData-> (x,y) = (4074542.38, 591519.08) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201053.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201052.41,3648.7387,N,-12158.4373,W,1,03,00.5,054.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201054.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201053.41,3648.7394,N,-12158.4380,W,1,03,00.5,054.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 165.00 : -14.21 : Estimated East Bias at time = 165.00 : 7.16 : Estimated Depth Bias at time = 165.00 : 0.59 : Estimated northing and easting = 4074528.16 : 591526.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201055.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201054.41,3648.7401,N,-12158.4385,W,1,03,00.5,054.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 167.998491 : TerrainNav update at dvl time = 167.998491 : _navData-> (x,y) = (4074546.06, 591516.33) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201056.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201055.41,3648.7407,N,-12158.4391,W,1,03,00.5,054.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201057.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201056.41,3648.7414,N,-12158.4398,W,1,03,00.5,054.4,M,-99.9,M,,*47 : Estimated North Bias at time = 168.00 : -15.03 : Estimated East Bias at time = 168.00 : 6.94 : Estimated Depth Bias at time = 168.00 : 0.59 : Estimated northing and easting = 4074531.03 : 591523.28 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201058.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201057.41,3648.7420,N,-12158.4405,W,1,03,00.5,054.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 170.998286 : TerrainNav update at dvl time = 170.998286 : _navData-> (x,y) = (4074549.77, 591513.32) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201059.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201058.41,3648.7428,N,-12158.4412,W,1,03,00.5,054.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201100.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201059.41,3648.7435,N,-12158.4419,W,1,03,00.5,054.4,M,-99.9,M,,*45 : Estimated North Bias at time = 171.00 : -16.15 : Estimated East Bias at time = 171.00 : 8.01 : Estimated Depth Bias at time = 171.00 : 0.60 : Estimated northing and easting = 4074533.63 : 591521.33 : AshtechGps::processRecord() - $GPGGA,201101.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201100.41,3648.7442,N,-12158.4426,W,1,03,00.5,054.5,M,-99.9,M,,*45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 173.998080 : TerrainNav update at dvl time = 173.998080 : _navData-> (x,y) = (4074553.82, 591510.22) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201102.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201101.41,3648.7450,N,-12158.4432,W,1,03,00.5,054.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201103.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201102.41,3648.7457,N,-12158.4438,W,1,03,00.5,054.1,M,-99.9,M,,*48 : Estimated North Bias at time = 174.00 : -16.98 : Estimated East Bias at time = 174.00 : 8.74 : Estimated Depth Bias at time = 174.00 : 0.59 : Estimated northing and easting = 4074536.85 : 591518.96 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201104.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201103.41,3648.7465,N,-12158.4445,W,1,03,00.5,053.9,M,-99.9,M,,*4d : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 176.997875 : TerrainNav update at dvl time = 176.997875 : _navData-> (x,y) = (4074557.97, 591507.35) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201105.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201104.41,3648.7472,N,-12158.4451,W,1,03,00.5,054.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201106.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201105.41,3648.7479,N,-12158.4457,W,1,03,00.5,054.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 177.00 : -17.90 : Estimated East Bias at time = 177.00 : 8.33 : Estimated Depth Bias at time = 177.00 : 0.59 : Estimated northing and easting = 4074540.07 : 591515.68 : AshtechGps::processRecord() - $GPGGA,201107.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201106.41,3648.7486,N,-12158.4463,W,1,03,00.5,054.3,M,-99.9,M,,*4c : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 179.997669 : TerrainNav update at dvl time = 179.997669 : _navData-> (x,y) = (4074561.76, 591504.54) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201108.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201107.41,3648.7493,N,-12158.4470,W,1,03,00.5,054.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201109.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201108.41,3648.7499,N,-12158.4476,W,1,03,00.5,054.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 180.00 : -19.17 : Estimated East Bias at time = 180.00 : 6.99 : Estimated Depth Bias at time = 180.00 : 0.58 : Estimated northing and easting = 4074542.59 : 591511.53 : AshtechGps::processRecord() - $GPGGA,201110.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201109.41,3648.7505,N,-12158.4482,W,1,03,00.5,054.6,M,-99.9,M,,*43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 182.997464 : TerrainNav update at dvl time = 182.997464 : _navData-> (x,y) = (4074565.30, 591501.70) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201111.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201110.41,3648.7512,N,-12158.4489,W,1,03,00.5,054.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201112.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201111.41,3648.7519,N,-12158.4496,W,1,03,00.5,054.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 183.00 : -19.96 : Estimated East Bias at time = 183.00 : 8.41 : Estimated Depth Bias at time = 183.00 : 0.58 : Estimated northing and easting = 4074545.34 : 591510.12 : AshtechGps::processRecord() - $GPGGA,201113.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201112.41,3648.7527,N,-12158.4503,W,1,03,00.5,054.2,M,-99.9,M,,*45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 185.997258 : TerrainNav update at dvl time = 185.997258 : _navData-> (x,y) = (4074569.31, 591498.42) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201114.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201113.41,3648.7534,N,-12158.4511,W,1,03,00.5,054.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201115.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201114.41,3648.7542,N,-12158.4519,W,1,03,00.5,053.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 186.00 : -20.11 : Estimated East Bias at time = 186.00 : 12.32 : Estimated Depth Bias at time = 186.00 : 0.58 : Estimated northing and easting = 4074549.20 : 591510.74 : AshtechGps::processRecord() - $GPGGA,201116.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201115.41,3648.7550,N,-12158.4527,W,1,03,00.5,054.3,M,-99.9,M,,*45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 188.997053 : TerrainNav update at dvl time = 188.997053 : _navData-> (x,y) = (4074573.52, 591494.89) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201117.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201116.41,3648.7557,N,-12158.4534,W,1,03,00.5,055.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201118.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201117.41,3648.7564,N,-12158.4541,W,1,03,00.5,054.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201119.00,,,,,0,00,,,M,,M,,*42 : NMEA Update: $GPGGA,201118.41,3648.7570,N,-12158.4547,W,1,03,00.5,055.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 189.00 : -20.53 : Estimated East Bias at time = 189.00 : 14.56 : Estimated Depth Bias at time = 189.00 : 0.58 : Estimated northing and easting = 4074553.00 : 591509.45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 191.996847 : TerrainNav update at dvl time = 191.996847 : _navData-> (x,y) = (4074577.12, 591492.06) : _tercom->outstandingMeas() = 0 : stat is 92342 : got a SAN packet : time:72736.671875 : lat:36.8121 lon:-121.9744 : slant range: 1.00 : SNR:10.100000 AGC:68 : AshtechGps::processRecord() - $GPGGA,201120.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201119.41,3648.7576,N,-12158.4552,W,1,03,00.5,055.2,M,-99.9,M,,*4f : Navigation: SAN - New position is lat 36.81206 lon -121.97445 decimal degrees Navigation: SAN - t = 1269979879.44, depth = 30.08 meters Navigation: SAN - Offset is 65.15 meters : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201121.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201120.41,3648.7243,N,-12158.4674,W,1,03,00.5,055.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201122.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201121.41,3648.7249,N,-12158.4679,W,1,03,00.5,055.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 192.00 : -24.37 : Estimated East Bias at time = 192.00 : 7.94 : Estimated Depth Bias at time = 192.00 : 0.57 : Estimated northing and easting = 4074552.76 : 591500.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 194.996642 : TerrainNav update at dvl time = 194.996642 : _navData-> (x,y) = (4074517.59, 591472.98) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201123.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201122.41,3648.7256,N,-12158.4685,W,1,03,00.5,054.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201124.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201123.41,3648.7263,N,-12158.4690,W,1,03,00.5,054.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201125.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201124.41,3648.7270,N,-12158.4696,W,1,03,00.5,054.4,M,-99.9,M,,*4c : Estimated North Bias at time = 195.00 : 35.62 : Estimated East Bias at time = 195.00 : 21.18 : Estimated Depth Bias at time = 195.00 : 0.57 : Estimated northing and easting = 4074553.21 : 591494.16 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 197.996436 : TerrainNav update at dvl time = 197.996436 : _navData-> (x,y) = (4074521.67, 591470.39) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201126.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201125.41,3648.7278,N,-12158.4702,W,1,03,00.5,054.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201127.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201126.41,3648.7287,N,-12158.4707,W,1,03,00.5,053.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201128.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201127.41,3648.7295,N,-12158.4712,W,1,03,00.5,054.6,M,-99.9,M,,*4b : Estimated North Bias at time = 198.00 : 37.73 : Estimated East Bias at time = 198.00 : 28.27 : Estimated Depth Bias at time = 198.00 : 0.56 : Estimated northing and easting = 4074559.40 : 591498.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 200.996231 : TerrainNav update at dvl time = 200.996231 : _navData-> (x,y) = (4074526.24, 591468.22) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201129.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201128.41,3648.7303,N,-12158.4715,W,1,03,00.5,054.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201130.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201129.41,3648.7312,N,-12158.4718,W,1,03,00.5,054.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,201130.41,3648.7319,N,-12158.4718,W,1,03,00.5,054.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201131.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 201.00 : 40.41 : Estimated East Bias at time = 201.00 : 35.31 : Estimated Depth Bias at time = 201.00 : 0.54 : Estimated northing and easting = 4074566.65 : 591503.53 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 203.996025 : TerrainNav update at dvl time = 203.996025 : _navData-> (x,y) = (4074530.66, 591467.55) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201132.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201131.40,3648.7327,N,-12158.4718,W,1,03,00.5,054.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201133.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201132.40,3648.7334,N,-12158.4716,W,1,03,00.5,055.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201134.00,,,,,0,00,,,M,,M,,*4D : NMEA Update: $GPGGA,201133.40,3648.7341,N,-12158.4711,W,1,03,00.5,055.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 204.00 : 39.88 : Estimated East Bias at time = 204.00 : 33.94 : Estimated Depth Bias at time = 204.00 : 0.54 : Estimated northing and easting = 4074570.54 : 591501.48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 206.995820 : TerrainNav update at dvl time = 206.995820 : _navData-> (x,y) = (4074534.49, 591469.06) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,201134.40,3648.7347,N,-12158.4705,W,1,03,00.5,056.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201135.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,201136.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201135.40,3648.7353,N,-12158.4698,W,1,03,00.5,056.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201137.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201136.40,3648.7359,N,-12158.4690,W,1,03,00.5,056.4,M,-99.9,M,,*40 : Estimated North Bias at time = 207.00 : 35.96 : Estimated East Bias at time = 207.00 : 24.58 : Estimated Depth Bias at time = 207.00 : 0.54 : Estimated northing and easting = 4074570.45 : 591493.65 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 209.995614 : TerrainNav update at dvl time = 209.995614 : _navData-> (x,y) = (4074537.78, 591472.34) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201138.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201137.40,3648.7364,N,-12158.4682,W,1,03,00.5,055.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,201138.40,3648.7370,N,-12158.4676,W,1,03,00.5,055.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201139.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,201140.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201139.40,3648.7375,N,-12158.4671,W,1,03,00.5,053.8,M,-99.9,M,,*47 : Estimated North Bias at time = 210.00 : 33.00 : Estimated East Bias at time = 210.00 : 15.91 : Estimated Depth Bias at time = 210.00 : 0.56 : Estimated northing and easting = 4074570.78 : 591488.25 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 212.995409 : TerrainNav update at dvl time = 212.995409 : _navData-> (x,y) = (4074540.80, 591474.93) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201141.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201140.40,3648.7381,N,-12158.4666,W,1,03,00.5,054.8,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201142.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201141.40,3648.7386,N,-12158.4662,W,1,03,00.5,053.4,M,-99.9,M,,*4a : Estimated North Bias at time = 213.00 : 35.23 : Estimated East Bias at time = 213.00 : 21.07 : Estimated Depth Bias at time = 213.00 : 0.54 : Estimated northing and easting = 4074576.03 : 591496.00 : NMEA Update: $GPGGA,201142.40,3648.7391,N,-12158.4658,W,1,03,00.5,054.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201143.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 215.995203 : TerrainNav update at dvl time = 215.995203 : _navData-> (x,y) = (4074543.86, 591476.76) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201144.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201143.40,3648.7397,N,-12158.4653,W,1,03,00.5,054.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201145.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201144.40,3648.7403,N,-12158.4647,W,1,03,00.5,054.4,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 216.00 : 36.02 : Estimated East Bias at time = 216.00 : 23.36 : Estimated Depth Bias at time = 216.00 : 0.54 : Estimated northing and easting = 4074579.88 : 591500.12 : AshtechGps::processRecord() - $GPGGA,201146.00,,,,,0,00,,,M,,M,,*48 : NMEA Update: $GPGGA,201145.40,3648.7409,N,-12158.4639,W,1,03,00.5,054.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 218.994998 : TerrainNav update at dvl time = 218.994998 : _navData-> (x,y) = (4074547.08, 591479.88) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201146.40,3648.7414,N,-12158.4631,W,1,03,00.5,054.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201147.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201148.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201147.40,3648.7421,N,-12158.4622,W,1,03,00.5,054.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 218.99 : 36.07 : Estimated East Bias at time = 218.99 : 23.91 : NMEA Update: $GPGGA,201148.40,3648.7427,N,-12158.4613,W,1,03,00.5,055.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201149.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 218.99 : 0.53 : Estimated northing and easting = 4074583.15 : 591503.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 221.994792 : TerrainNav update at dvl time = 221.994792 : _navData-> (x,y) = (4074550.59, 591483.69) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201150.00,,,,,0,00,,,M,,M,,*4F : NMEA Update: $GPGGA,201149.40,3648.7433,N,-12158.4605,W,1,03,00.5,054.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,201150.40,3648.7441,N,-12158.4598,W,1,03,00.5,054.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201151.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 221.99 : 35.48 : Estimated East Bias at time = 221.99 : 24.29 : Estimated Depth Bias at time = 221.99 : 0.53 : Estimated northing and easting = 4074586.08 : 591507.98 : AshtechGps::processRecord() - $GPGGA,201152.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201151.40,3648.7448,N,-12158.4592,W,1,03,00.5,054.5,M,-99.9,M,,*44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 224.994587 : TerrainNav update at dvl time = 224.994587 : _navData-> (x,y) = (4074554.71, 591486.58) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201153.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201152.40,3648.7456,N,-12158.4586,W,1,03,00.5,054.2,M,-99.9,M,,*4a : NMEA Update: $GPGGA,201153.40,3648.7464,N,-12158.4582,W,1,03,00.5,054.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201154.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 224.99 : 34.36 : Estimated East Bias at time = 224.99 : 25.29 : Estimated Depth Bias at time = 224.99 : 0.53 : AshtechGps::processRecord() - $GPGGA,201155.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated northing and easting = 4074589.07 : 591511.87 : NMEA Update: $GPGGA,201154.41,3648.7473,N,-12158.4578,W,1,03,00.5,054.4,M,-99.9,M,,*4d : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 227.994381 : TerrainNav update at dvl time = 227.994381 : _navData-> (x,y) = (4074559.32, 591488.42) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201156.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201155.41,3648.7481,N,-12158.4574,W,1,03,00.5,054.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201157.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201156.41,3648.7489,N,-12158.4571,W,1,03,00.5,054.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 227.99 : 34.07 : Estimated East Bias at time = 227.99 : 28.25 : Estimated Depth Bias at time = 227.99 : 0.53 : Estimated northing and easting = 4074593.39 : 591516.68 : AshtechGps::processRecord() - $GPGGA,201158.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201157.41,3648.7498,N,-12158.4568,W,1,03,00.5,054.7,M,-99.9,M,,*49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 230.994176 : TerrainNav update at dvl time = 230.994176 : _navData-> (x,y) = (4074563.94, 591489.66) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201159.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201158.41,3648.7506,N,-12158.4566,W,1,03,00.5,054.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201200.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201159.41,3648.7514,N,-12158.4565,W,1,03,00.5,055.0,M,-99.9,M,,*49 : Estimated North Bias at time = 230.99 : 33.59 : Estimated East Bias at time = 230.99 : 29.35 : Estimated Depth Bias at time = 230.99 : 0.52 : Estimated northing and easting = 4074597.53 : 591519.01 : AshtechGps::processRecord() - $GPGGA,201201.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201200.41,3648.7522,N,-12158.4564,W,1,03,00.5,054.6,M,-99.9,M,,*45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 233.993970 : TerrainNav update at dvl time = 233.993970 : _navData-> (x,y) = (4074568.39, 591490.08) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201202.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201201.41,3648.7530,N,-12158.4564,W,1,03,00.5,054.7,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201203.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201202.41,3648.7538,N,-12158.4564,W,1,03,00.5,054.9,M,-99.9,M,,*43 : Estimated North Bias at time = 233.99 : 33.06 : Estimated East Bias at time = 233.99 : 28.96 : Estimated Depth Bias at time = 233.99 : 0.52 : Estimated northing and easting = 4074601.45 : 591519.03 : AshtechGps::processRecord() - $GPGGA,201204.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201203.41,3648.7546,N,-12158.4565,W,1,03,00.5,054.4,M,-99.9,M,,*47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 236.993765 : TerrainNav update at dvl time = 236.993765 : _navData-> (x,y) = (4074572.88, 591489.88) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201205.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201204.41,3648.7554,N,-12158.4565,W,1,03,00.5,054.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201206.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201205.41,3648.7563,N,-12158.4567,W,1,03,00.5,054.3,M,-99.9,M,,*43 : Estimated North Bias at time = 236.99 : 32.97 : Estimated East Bias at time = 236.99 : 31.81 : Estimated Depth Bias at time = 236.99 : 0.51 : Estimated northing and easting = 4074605.85 : 591521.69 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201207.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201206.41,3648.7571,N,-12158.4569,W,1,03,00.5,054.2,M,-99.9,M,,*4c : TerrainNav update at nav time = 239.993559 : TerrainNav update at dvl time = 239.993559 : _navData-> (x,y) = (4074577.41, 591489.06) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201208.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201207.41,3648.7579,N,-12158.4571,W,1,03,00.5,054.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201209.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201208.41,3648.7587,N,-12158.4573,W,1,03,00.5,054.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 239.99 : 33.09 : Estimated East Bias at time = 239.99 : 35.21 : Estimated Depth Bias at time = 239.99 : 0.51 : Estimated northing and easting = 4074610.50 : 591524.28 : AshtechGps::processRecord() - $GPGGA,201210.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201209.41,3648.7594,N,-12158.4576,W,1,03,00.5,054.6,M,-99.9,M,,*42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 242.993354 : TerrainNav update at dvl time = 242.993354 : _navData-> (x,y) = (4074581.67, 591488.03) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201211.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201210.41,3648.7602,N,-12158.4578,W,1,03,00.5,054.8,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201212.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201211.41,3648.7609,N,-12158.4580,W,1,03,00.5,054.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 242.99 : 32.76 : Estimated East Bias at time = 242.99 : 34.04 : Estimated Depth Bias at time = 242.99 : 0.51 : Estimated northing and easting = 4074614.44 : 591522.07 : AshtechGps::processRecord() - $GPGGA,201213.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201212.41,3648.7617,N,-12158.4582,W,1,03,00.5,054.3,M,-99.9,M,,*4e : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 245.993148 : TerrainNav update at dvl time = 245.993148 : _navData-> (x,y) = (4074585.83, 591486.93) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201214.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201213.41,3648.7624,N,-12158.4585,W,1,03,00.5,054.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201215.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201214.41,3648.7632,N,-12158.4589,W,1,03,00.5,054.8,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 245.99 : 32.48 : Estimated East Bias at time = 245.99 : 33.99 : Estimated Depth Bias at time = 245.99 : 0.51 : Estimated northing and easting = 4074618.30 : 591520.92 : AshtechGps::processRecord() - $GPGGA,201216.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201215.41,3648.7639,N,-12158.4593,W,1,03,00.5,054.4,M,-99.9,M,,*42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 248.992943 : TerrainNav update at dvl time = 248.992943 : _navData-> (x,y) = (4074589.94, 591485.09) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201217.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201216.41,3648.7646,N,-12158.4598,W,1,03,00.5,054.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201218.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201217.41,3648.7654,N,-12158.4603,W,1,03,00.5,054.8,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201219.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201218.41,3648.7661,N,-12158.4609,W,1,03,00.5,053.9,M,-99.9,M,,*48 : Estimated North Bias at time = 248.99 : 32.16 : Estimated East Bias at time = 248.99 : 33.73 : Estimated Depth Bias at time = 248.99 : 0.51 : Estimated northing and easting = 4074622.10 : 591518.82 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 252.002737 : TerrainNav update at dvl time = 252.002737 : _navData-> (x,y) = (4074593.88, 591482.51) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201220.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201219.41,3648.7668,N,-12158.4616,W,1,03,00.5,054.3,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201221.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201220.41,3648.7675,N,-12158.4622,W,1,03,00.5,054.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201222.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201221.41,3648.7682,N,-12158.4629,W,1,03,00.5,054.0,M,-99.9,M,,*43 : Estimated North Bias at time = 252.00 : 32.05 : Estimated East Bias at time = 252.00 : 34.90 : Estimated Depth Bias at time = 252.00 : 0.51 : Estimated northing and easting = 4074625.93 : 591517.42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 255.002531 : TerrainNav update at dvl time = 255.002531 : _navData-> (x,y) = (4074597.75, 591479.51) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201223.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201222.41,3648.7689,N,-12158.4635,W,1,03,00.5,054.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201224.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201223.41,3648.7695,N,-12158.4641,W,1,03,00.5,055.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201225.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201224.41,3648.7702,N,-12158.4646,W,1,03,00.5,055.1,M,-99.9,M,,*46 : Estimated North Bias at time = 255.00 : 30.71 : Estimated East Bias at time = 255.00 : 33.06 : Estimated Depth Bias at time = 255.00 : 0.51 : Estimated northing and easting = 4074628.46 : 591512.57 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 258.002326 : TerrainNav update at dvl time = 258.002326 : _navData-> (x,y) = (4074601.36, 591477.17) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201226.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201225.41,3648.7708,N,-12158.4650,W,1,03,00.5,055.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201227.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201226.41,3648.7714,N,-12158.4655,W,1,03,00.5,055.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201228.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201227.41,3648.7721,N,-12158.4661,W,1,03,00.5,055.1,M,-99.9,M,,*41 : Estimated North Bias at time = 258.00 : 29.20 : Estimated East Bias at time = 258.00 : 27.34 : Estimated Depth Bias at time = 258.00 : 0.51 : Estimated northing and easting = 4074630.55 : 591504.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 261.002120 : TerrainNav update at dvl time = 261.002120 : _navData-> (x,y) = (4074604.81, 591474.59) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201229.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201228.41,3648.7727,N,-12158.4668,W,1,03,00.5,055.8,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201230.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201229.41,3648.7733,N,-12158.4676,W,1,03,00.5,054.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201231.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201230.41,3648.7740,N,-12158.4685,W,1,03,00.5,054.7,M,-99.9,M,,*4d : Estimated North Bias at time = 261.00 : 27.98 : Estimated East Bias at time = 261.00 : 23.76 : Estimated Depth Bias at time = 261.00 : 0.51 : Estimated northing and easting = 4074632.79 : 591498.35 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 264.001915 : TerrainNav update at dvl time = 264.001915 : _navData-> (x,y) = (4074608.27, 591471.00) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201232.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201231.41,3648.7746,N,-12158.4693,W,1,03,00.5,054.9,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201233.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201232.41,3648.7752,N,-12158.4700,W,1,03,00.5,055.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201234.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201233.41,3648.7758,N,-12158.4708,W,1,03,00.5,055.1,M,-99.9,M,,*44 : Estimated North Bias at time = 264.00 : 27.15 : Estimated East Bias at time = 264.00 : 21.93 : Estimated Depth Bias at time = 264.00 : 0.51 : Estimated northing and easting = 4074635.43 : 591492.93 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 267.001709 : TerrainNav update at dvl time = 267.001709 : _navData-> (x,y) = (4074611.62, 591467.54) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201235.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201234.41,3648.7764,N,-12158.4715,W,1,03,00.5,055.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201236.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201235.41,3648.7770,N,-12158.4722,W,1,03,00.5,055.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 267.00 : 25.07 : Estimated East Bias at time = 267.00 : 17.46 : Estimated Depth Bias at time = 267.00 : 0.51 : Estimated northing and easting = 4074636.69 : 591485.00 : stat is 92342 : got a SAN packet : time:72813.601562 : lat:36.8128 lon:-121.9744 : slant range: 1.00 : SNR:11.700000 AGC:38 : AshtechGps::processRecord() - $GPGGA,201237.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201236.41,3648.7776,N,-12158.4729,W,1,03,00.5,055.4,M,-99.9,M,,*4b : Navigation: SAN - New position is lat 36.81276 lon -121.97439 decimal degrees Navigation: SAN - t = 1269979956.44, depth = 30.04 meters Navigation: SAN - Offset is 26.88 meters : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 270.001504 : TerrainNav update at dvl time = 270.001504 : _navData-> (x,y) = (4074592.36, 591478.97) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201238.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201237.41,3648.7659,N,-12158.4640,W,1,03,00.5,055.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201239.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201238.41,3648.7665,N,-12158.4646,W,1,03,00.5,055.6,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 270.00 : 43.27 : Estimated East Bias at time = 270.00 : -5.67 : Estimated Depth Bias at time = 270.00 : 0.51 : Estimated northing and easting = 4074635.63 : 591473.30 : AshtechGps::processRecord() - $GPGGA,201240.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201239.41,3648.7672,N,-12158.4653,W,1,03,00.5,055.9,M,-99.9,M,,*40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 273.001298 : TerrainNav update at dvl time = 273.001298 : _navData-> (x,y) = (4074595.75, 591475.98) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201241.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201240.41,3648.7678,N,-12158.4659,W,1,03,00.5,055.9,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201242.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201241.41,3648.7685,N,-12158.4666,W,1,03,00.5,055.6,M,-99.9,M,,*4e : Estimated North Bias at time = 273.00 : 35.38 : Estimated East Bias at time = 273.00 : -19.14 : AshtechGps::processRecord() - $GPGGA,201243.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 273.00 : 0.53 : Estimated northing and easting = 4074631.13 : 591456.84 : NMEA Update: $GPGGA,201242.41,3648.7692,N,-12158.4673,W,1,03,00.5,056.0,M,-99.9,M,,*4a : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 276.001093 : TerrainNav update at dvl time = 276.001093 : _navData-> (x,y) = (4074599.49, 591472.91) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201244.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201243.41,3648.7699,N,-12158.4680,W,1,03,00.5,055.7,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201245.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201244.41,3648.7706,N,-12158.4687,W,1,03,00.5,056.1,M,-99.9,M,,*4a : Estimated North Bias at time = 276.00 : 30.01 : Estimated East Bias at time = 276.00 : -25.45 : Estimated Depth Bias at time = 276.00 : 0.54 : Estimated northing and easting = 4074629.50 : 591447.46 : AshtechGps::processRecord() - $GPGGA,201246.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201245.41,3648.7713,N,-12158.4693,W,1,03,00.5,056.1,M,-99.9,M,,*4a : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 279.000887 : TerrainNav update at dvl time = 279.000887 : _navData-> (x,y) = (4074603.53, 591469.85) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201247.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201246.41,3648.7721,N,-12158.4700,W,1,03,00.5,056.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201248.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201247.41,3648.7728,N,-12158.4706,W,1,03,00.5,056.5,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201249.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201248.41,3648.7735,N,-12158.4712,W,1,03,00.5,056.6,M,-99.9,M,,*4c : Estimated North Bias at time = 279.00 : 23.16 : Estimated East Bias at time = 279.00 : -33.63 : Estimated Depth Bias at time = 279.00 : 0.57 : Estimated northing and easting = 4074626.69 : 591436.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 282.000682 : TerrainNav update at dvl time = 282.000682 : _navData-> (x,y) = (4074607.52, 591467.25) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201250.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201249.41,3648.7742,N,-12158.4717,W,1,03,00.5,056.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201251.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201250.41,3648.7749,N,-12158.4722,W,1,03,00.5,057.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201252.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201251.41,3648.7756,N,-12158.4727,W,1,03,00.5,056.5,M,-99.9,M,,*44 : Estimated North Bias at time = 282.00 : 21.29 : Estimated East Bias at time = 282.00 : -37.65 : Estimated Depth Bias at time = 282.00 : 0.59 : Estimated northing and easting = 4074628.81 : 591429.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 285.000476 : TerrainNav update at dvl time = 285.000476 : _navData-> (x,y) = (4074611.38, 591464.93) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201253.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201252.41,3648.7763,N,-12158.4732,W,1,03,00.5,056.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201254.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201253.41,3648.7771,N,-12158.4739,W,1,03,00.5,056.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 285.00 : 19.26 : Estimated East Bias at time = 285.00 : -40.03 : Estimated Depth Bias at time = 285.00 : 0.60 : Estimated northing and easting = 4074630.63 : 591424.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201255.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201254.41,3648.7778,N,-12158.4746,W,1,03,00.5,056.4,M,-99.9,M,,*4b : TerrainNav update at nav time = 288.000271 : TerrainNav update at dvl time = 288.000271 : _navData-> (x,y) = (4074615.45, 591461.76) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201256.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201255.41,3648.7786,N,-12158.4754,W,1,03,00.5,056.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201257.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201256.41,3648.7793,N,-12158.4762,W,1,03,00.5,056.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 288.00 : 19.58 : Estimated East Bias at time = 288.00 : -39.71 : Estimated Depth Bias at time = 288.00 : 0.60 : Estimated northing and easting = 4074635.03 : 591422.05 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201258.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201257.41,3648.7801,N,-12158.4769,W,1,03,00.5,057.1,M,-99.9,M,,*40 : TerrainNav update at nav time = 291.000065 : TerrainNav update at dvl time = 291.000065 : _navData-> (x,y) = (4074619.51, 591458.43) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201259.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201258.41,3648.7808,N,-12158.4776,W,1,03,00.5,056.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201300.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201259.41,3648.7815,N,-12158.4781,W,1,03,00.5,057.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 291.00 : 16.49 : Estimated East Bias at time = 291.00 : -42.78 : Estimated Depth Bias at time = 291.00 : 0.61 : Estimated northing and easting = 4074635.99 : 591415.65 : AshtechGps::processRecord() - $GPGGA,201301.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201300.41,3648.7821,N,-12158.4786,W,1,03,00.5,057.4,M,-99.9,M,,*45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 293.999860 : TerrainNav update at dvl time = 293.999860 : _navData-> (x,y) = (4074623.15, 591455.98) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201302.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201301.41,3648.7827,N,-12158.4791,W,1,03,00.5,057.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201303.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201302.41,3648.7833,N,-12158.4797,W,1,03,00.5,056.9,M,-99.9,M,,*48 : Estimated North Bias at time = 294.00 : 14.15 : Estimated East Bias at time = 294.00 : -45.64 : Estimated Depth Bias at time = 294.00 : 0.61 : Estimated northing and easting = 4074637.29 : 591410.34 : AshtechGps::processRecord() - $GPGGA,201304.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201303.41,3648.7840,N,-12158.4803,W,1,03,00.5,057.4,M,-99.9,M,,*43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 296.999654 : TerrainNav update at dvl time = 296.999654 : _navData-> (x,y) = (4074626.57, 591453.36) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201305.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201304.41,3648.7846,N,-12158.4810,W,1,03,00.5,057.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201306.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201305.41,3648.7853,N,-12158.4817,W,1,03,00.5,056.9,M,-99.9,M,,*4e : Estimated North Bias at time = 297.00 : 13.09 : Estimated East Bias at time = 297.00 : -46.55 : Estimated Depth Bias at time = 297.00 : 0.61 : Estimated northing and easting = 4074639.66 : 591406.81 : stat is 92342 : got a SAN packet : time:72844.367188 : lat:36.8133 lon:-121.9751 : slant range: 1.00 : SNR:12.800000 AGC:42 : AshtechGps::processRecord() - $GPGGA,201307.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201306.41,3648.7860,N,-12158.4825,W,1,03,00.5,057.3,M,-99.9,M,,*47 : Navigation: SAN - New position is lat 36.81327 lon -121.97505 decimal degrees Navigation: SAN - t = 1269979986.44, depth = 29.99 meters Navigation: SAN - Offset is 35.96 meters : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 299.999449 : TerrainNav update at dvl time = 299.999449 : _navData-> (x,y) = (4074649.01, 591419.01) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201308.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201307.41,3648.7970,N,-12158.5039,W,1,03,00.5,056.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201309.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201308.41,3648.7977,N,-12158.5047,W,1,03,00.5,056.6,M,-99.9,M,,*47 : Estimated North Bias at time = 300.00 : -2.66 : Estimated East Bias at time = 300.00 : -13.14 : Estimated Depth Bias at time = 300.00 : 0.60 : Estimated northing and easting = 4074646.35 : 591405.88 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201310.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201309.41,3648.7985,N,-12158.5054,W,1,03,00.5,057.2,M,-99.9,M,,*4c : TerrainNav update at nav time = 302.999243 : TerrainNav update at dvl time = 302.999243 : _navData-> (x,y) = (4074653.12, 591415.71) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201311.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201310.41,3648.7992,N,-12158.5060,W,1,03,00.5,058.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201312.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201311.41,3648.7999,N,-12158.5064,W,1,03,00.5,058.7,M,-99.9,M,,*41 : Estimated North Bias at time = 303.00 : -1.97 : Estimated East Bias at time = 303.00 : -13.72 : Estimated Depth Bias at time = 303.00 : 0.59 : Estimated northing and easting = 4074651.15 : 591401.99 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201313.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201312.41,3648.8006,N,-12158.5067,W,1,03,00.5,058.5,M,-99.9,M,,*43 : TerrainNav update at nav time = 305.999038 : TerrainNav update at dvl time = 305.999038 : _navData-> (x,y) = (4074657.05, 591414.06) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201314.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201313.41,3648.8013,N,-12158.5070,W,1,03,00.5,059.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201315.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201314.41,3648.8021,N,-12158.5072,W,1,03,00.5,058.8,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 306.00 : -5.30 : Estimated East Bias at time = 306.00 : -17.75 : Estimated Depth Bias at time = 306.00 : 0.60 : Estimated northing and easting = 4074651.75 : 591396.31 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201316.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201315.41,3648.8029,N,-12158.5074,W,1,03,00.5,058.6,M,-99.9,M,,*48 : TerrainNav update at nav time = 308.998832 : TerrainNav update at dvl time = 308.998832 : _navData-> (x,y) = (4074661.24, 591412.90) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201317.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201316.41,3648.8036,N,-12158.5078,W,1,03,00.5,058.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201318.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201317.41,3648.8045,N,-12158.5082,W,1,03,00.5,058.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 309.00 : -6.04 : Estimated East Bias at time = 309.00 : -18.18 : Estimated Depth Bias at time = 309.00 : 0.60 : Estimated northing and easting = 4074655.20 : 591394.72 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201319.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201318.41,3648.8053,N,-12158.5085,W,1,03,00.5,057.6,M,-99.9,M,,*49 : TerrainNav update at nav time = 311.998627 : TerrainNav update at dvl time = 311.998627 : _navData-> (x,y) = (4074665.86, 591411.16) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201320.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201319.41,3648.8062,N,-12158.5089,W,1,03,00.5,059.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201321.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201320.41,3648.8070,N,-12158.5091,W,1,03,00.5,059.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 312.00 : -7.39 : Estimated East Bias at time = 312.00 : -19.48 : Estimated Depth Bias at time = 312.00 : 0.60 : Estimated northing and easting = 4074658.47 : 591391.68 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201322.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201321.41,3648.8079,N,-12158.5091,W,1,03,00.5,059.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 314.998421 : TerrainNav update at dvl time = 314.998421 : _navData-> (x,y) = (4074670.66, 591410.58) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201323.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201322.41,3648.8088,N,-12158.5091,W,1,03,00.5,059.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201324.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201323.41,3648.8097,N,-12158.5091,W,1,03,00.5,059.0,M,-99.9,M,,*44 : Estimated North Bias at time = 315.00 : -8.24 : Estimated East Bias at time = 315.00 : -21.34 : Estimated Depth Bias at time = 315.00 : 0.59 : Estimated northing and easting = 4074662.42 : 591389.24 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201325.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201324.41,3648.8105,N,-12158.5091,W,1,03,00.5,058.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 317.998216 : TerrainNav update at dvl time = 317.998216 : _navData-> (x,y) = (4074675.51, 591410.50) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201326.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201325.41,3648.8114,N,-12158.5092,W,1,03,00.5,058.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201327.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201326.41,3648.8122,N,-12158.5094,W,1,03,00.5,057.7,M,-99.9,M,,*42 : Estimated North Bias at time = 318.00 : -9.01 : Estimated East Bias at time = 318.00 : -22.60 : Estimated Depth Bias at time = 318.00 : 0.59 : Estimated northing and easting = 4074666.50 : 591387.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201328.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201327.41,3648.8130,N,-12158.5096,W,1,03,00.5,057.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 320.998010 : TerrainNav update at dvl time = 320.998010 : _navData-> (x,y) = (4074679.99, 591409.51) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201329.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201328.41,3648.8138,N,-12158.5099,W,1,03,00.5,058.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201330.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201329.41,3648.8146,N,-12158.5102,W,1,03,00.5,058.1,M,-99.9,M,,*48 : Estimated North Bias at time = 321.00 : -8.83 : Estimated East Bias at time = 321.00 : -23.00 : Estimated Depth Bias at time = 321.00 : 0.59 : Estimated northing and easting = 4074671.16 : 591386.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201331.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201330.41,3648.8154,N,-12158.5106,W,1,03,00.5,057.6,M,-99.9,M,,*4f : TerrainNav update at nav time = 323.997805 : TerrainNav update at dvl time = 323.997805 : _navData-> (x,y) = (4074684.40, 591407.88) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201332.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201331.41,3648.8162,N,-12158.5110,W,1,03,00.5,057.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201333.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201332.41,3648.8170,N,-12158.5114,W,1,03,00.5,057.5,M,-99.9,M,,*4b : Estimated North Bias at time = 324.00 : -8.70 : Estimated East Bias at time = 324.00 : -22.87 : Estimated Depth Bias at time = 324.00 : 0.59 : Estimated northing and easting = 4074675.69 : 591385.01 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201334.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201333.41,3648.8179,N,-12158.5119,W,1,03,00.5,057.2,M,-99.9,M,,*49 : TerrainNav update at nav time = 326.997599 : TerrainNav update at dvl time = 326.997599 : _navData-> (x,y) = (4074688.93, 591405.86) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201335.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201334.41,3648.8187,N,-12158.5124,W,1,03,00.5,057.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201336.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201335.41,3648.8194,N,-12158.5129,W,1,03,00.5,057.5,M,-99.9,M,,*48 : Estimated North Bias at time = 327.00 : -7.18 : Estimated East Bias at time = 327.00 : -21.73 : Estimated Depth Bias at time = 327.00 : 0.59 : Estimated northing and easting = 4074681.75 : 591384.13 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201337.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201336.41,3648.8202,N,-12158.5133,W,1,03,00.5,057.8,M,-99.9,M,,*41 : TerrainNav update at nav time = 329.997394 : TerrainNav update at dvl time = 329.997394 : _navData-> (x,y) = (4074693.04, 591403.64) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201338.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201337.41,3648.8209,N,-12158.5138,W,1,03,00.5,058.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201339.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201338.41,3648.8215,N,-12158.5143,W,1,03,00.5,058.3,M,-99.9,M,,*4a : Estimated North Bias at time = 330.00 : -7.70 : Estimated East Bias at time = 330.00 : -22.82 : Estimated Depth Bias at time = 330.00 : 0.59 : Estimated northing and easting = 4074685.34 : 591380.82 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201340.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201339.41,3648.8222,N,-12158.5148,W,1,03,00.5,058.8,M,-99.9,M,,*4f : TerrainNav update at nav time = 332.997188 : TerrainNav update at dvl time = 332.997188 : _navData-> (x,y) = (4074696.62, 591401.44) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201341.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201340.41,3648.8228,N,-12158.5153,W,1,03,00.5,058.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201342.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201341.41,3648.8234,N,-12158.5159,W,1,03,00.5,058.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 333.00 : -7.62 : Estimated East Bias at time = 333.00 : -23.26 : Estimated Depth Bias at time = 333.00 : 0.59 : Estimated northing and easting = 4074688.99 : 591378.18 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201343.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201342.41,3648.8241,N,-12158.5166,W,1,03,00.5,058.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 335.996983 : TerrainNav update at dvl time = 335.996983 : _navData-> (x,y) = (4074700.15, 591398.56) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201344.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201343.41,3648.8247,N,-12158.5173,W,1,03,00.5,057.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : stat is 92342 : got a SAN packet : time:72882.382812 : lat:36.8136 lon:-121.9754 : slant range: 1.00 : SNR:10.500000 AGC:44 : AshtechGps::processRecord() - $GPGGA,201345.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201344.41,3648.8254,N,-12158.5181,W,1,03,00.5,057.5,M,-99.9,M,,*43 : Navigation: SAN - New position is lat 36.81360 lon -121.97538 decimal degrees Navigation: SAN - t = 1269980024.44, depth = 30.16 meters Navigation: SAN - Offset is 18.88 meters : Estimated North Bias at time = 336.00 : -7.93 : Estimated East Bias at time = 336.00 : -22.53 : Estimated Depth Bias at time = 336.00 : 0.59 : Estimated northing and easting = 4074692.22 : 591376.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201346.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201345.41,3648.8166,N,-12158.5236,W,1,03,00.5,058.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 338.996777 : TerrainNav update at dvl time = 338.996777 : _navData-> (x,y) = (4074686.26, 591388.21) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201347.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201346.41,3648.8173,N,-12158.5243,W,1,03,00.5,058.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201348.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201347.41,3648.8179,N,-12158.5250,W,1,03,00.5,058.6,M,-99.9,M,,*4f : Estimated North Bias at time = 339.00 : 9.87 : Estimated East Bias at time = 339.00 : -15.02 : Estimated Depth Bias at time = 339.00 : 0.58 : Estimated northing and easting = 4074696.13 : 591373.19 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201349.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201348.41,3648.8186,N,-12158.5256,W,1,03,00.5,059.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 341.996572 : TerrainNav update at dvl time = 341.996572 : _navData-> (x,y) = (4074689.91, 591385.37) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201350.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201349.41,3648.8193,N,-12158.5261,W,1,03,00.5,059.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201351.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201350.41,3648.8199,N,-12158.5266,W,1,03,00.5,058.6,M,-99.9,M,,*42 : Estimated North Bias at time = 342.00 : 8.42 : Estimated East Bias at time = 342.00 : -16.53 : Estimated Depth Bias at time = 342.00 : 0.59 : Estimated northing and easting = 4074698.33 : 591368.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201352.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201351.41,3648.8207,N,-12158.5270,W,1,03,00.5,059.0,M,-99.9,M,,*47 : TerrainNav update at nav time = 344.996366 : TerrainNav update at dvl time = 344.996366 : _navData-> (x,y) = (4074693.77, 591383.45) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201353.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201352.41,3648.8214,N,-12158.5273,W,1,03,00.5,058.7,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201354.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201353.41,3648.8221,N,-12158.5277,W,1,03,00.5,058.5,M,-99.9,M,,*42 : Estimated North Bias at time = 345.00 : 7.71 : Estimated East Bias at time = 345.00 : -17.33 : Estimated Depth Bias at time = 345.00 : 0.59 : Estimated northing and easting = 4074701.48 : 591366.13 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201355.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201354.41,3648.8229,N,-12158.5280,W,1,03,00.5,058.9,M,-99.9,M,,*49 : TerrainNav update at nav time = 347.996161 : TerrainNav update at dvl time = 347.996161 : _navData-> (x,y) = (4074698.01, 591382.06) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201356.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201355.41,3648.8237,N,-12158.5282,W,1,03,00.5,059.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201357.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201356.41,3648.8245,N,-12158.5284,W,1,03,00.5,058.9,M,-99.9,M,,*45 : Estimated North Bias at time = 348.00 : 6.28 : Estimated East Bias at time = 348.00 : -19.03 : Estimated Depth Bias at time = 348.00 : 0.59 : Estimated northing and easting = 4074704.28 : 591363.03 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201358.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201357.40,3648.8253,N,-12158.5286,W,1,03,00.5,059.1,M,-99.9,M,,*49 : TerrainNav update at nav time = 350.995955 : TerrainNav update at dvl time = 350.995955 : _navData-> (x,y) = (4074702.49, 591381.22) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201359.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201358.40,3648.8262,N,-12158.5287,W,1,03,00.5,058.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201400.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201359.40,3648.8270,N,-12158.5287,W,1,03,00.5,059.2,M,-99.9,M,,*44 : Estimated North Bias at time = 351.00 : 6.34 : Estimated East Bias at time = 351.00 : -19.66 : Estimated Depth Bias at time = 351.00 : 0.59 : Estimated northing and easting = 4074708.83 : 591361.55 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201401.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201400.40,3648.8278,N,-12158.5288,W,1,03,00.5,058.8,M,-99.9,M,,*43 : TerrainNav update at nav time = 353.995750 : TerrainNav update at dvl time = 353.995750 : _navData-> (x,y) = (4074707.13, 591380.96) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201402.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201401.40,3648.8287,N,-12158.5288,W,1,03,00.5,059.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201403.00,,,,,0,00,,,M,,M,,*4C : NMEA Update: $GPGGA,201402.40,3648.8295,N,-12158.5288,W,1,03,00.5,059.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 354.00 : 6.36 : Estimated East Bias at time = 354.00 : -20.27 : Estimated Depth Bias at time = 354.00 : 0.59 : Estimated northing and easting = 4074713.49 : 591360.68 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201404.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201403.40,3648.8304,N,-12158.5289,W,1,03,00.5,059.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 356.995544 : TerrainNav update at dvl time = 356.995544 : _navData-> (x,y) = (4074711.79, 591380.57) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201405.00,,,,,0,00,,,M,,M,,*4A : NMEA Update: $GPGGA,201404.40,3648.8312,N,-12158.5291,W,1,03,00.5,058.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201406.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201405.40,3648.8320,N,-12158.5292,W,1,03,00.5,058.0,M,-99.9,M,,*49 : Estimated North Bias at time = 357.00 : 7.26 : Estimated East Bias at time = 357.00 : -19.59 : Estimated Depth Bias at time = 357.00 : 0.59 : Estimated northing and easting = 4074719.05 : 591360.98 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201407.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201406.40,3648.8328,N,-12158.5295,W,1,03,00.5,058.6,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 359.995339 : TerrainNav update at dvl time = 359.995339 : _navData-> (x,y) = (4074716.38, 591379.60) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201408.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201407.40,3648.8337,N,-12158.5298,W,1,03,00.5,059.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201409.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201408.40,3648.8345,N,-12158.5301,W,1,03,00.5,058.2,M,-99.9,M,,*4e : Estimated North Bias at time = 360.00 : 6.87 : Estimated East Bias at time = 360.00 : -19.95 : Estimated Depth Bias at time = 360.00 : 0.59 : Estimated northing and easting = 4074723.25 : 591359.64 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201410.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201409.40,3648.8353,N,-12158.5304,W,1,03,00.5,058.7,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 362.995133 : TerrainNav update at dvl time = 362.995133 : _navData-> (x,y) = (4074720.91, 591378.05) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201411.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201410.40,3648.8361,N,-12158.5308,W,1,03,00.5,058.6,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201412.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201411.40,3648.8369,N,-12158.5311,W,1,03,00.5,058.3,M,-99.9,M,,*48 : Estimated North Bias at time = 363.00 : 7.21 : Estimated East Bias at time = 363.00 : -19.91 : Estimated Depth Bias at time = 363.00 : 0.58 : Estimated northing and easting = 4074728.11 : 591358.15 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201413.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201412.40,3648.8377,N,-12158.5314,W,1,03,00.5,058.9,M,-99.9,M,,*4b : TerrainNav update at nav time = 365.994928 : TerrainNav update at dvl time = 365.994928 : _navData-> (x,y) = (4074725.20, 591376.61) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201414.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201413.40,3648.8384,N,-12158.5317,W,1,03,00.5,058.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201415.00,,,,,0,00,,,M,,M,,*4B : NMEA Update: $GPGGA,201414.40,3648.8392,N,-12158.5320,W,1,03,00.5,058.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 365.99 : 7.40 : Estimated East Bias at time = 365.99 : -20.41 : Estimated Depth Bias at time = 365.99 : 0.58 : Estimated northing and easting = 4074732.60 : 591356.20 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201416.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201415.40,3648.8399,N,-12158.5324,W,1,03,00.5,059.0,M,-99.9,M,,*47 : TerrainNav update at nav time = 368.994722 : TerrainNav update at dvl time = 368.994722 : _navData-> (x,y) = (4074729.21, 591375.02) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201417.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201416.40,3648.8406,N,-12158.5328,W,1,03,00.5,058.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201418.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201417.40,3648.8413,N,-12158.5333,W,1,03,00.5,059.1,M,-99.9,M,,*47 : Estimated North Bias at time = 368.99 : 7.50 : Estimated East Bias at time = 368.99 : -20.36 : Estimated Depth Bias at time = 368.99 : 0.58 : Estimated northing and easting = 4074736.72 : 591354.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : stat is 92342 : got a SAN packet : time:72916.617188 : lat:36.8140 lon:-121.9757 : slant range: 1.00 : SNR:12.700000 AGC:64 : NMEA Update: $GPGGA,201418.40,3648.8420,N,-12158.5338,W,1,03,00.5,058.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201419.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Navigation: SAN - New position is lat 36.81398 lon -121.97572 decimal degrees Navigation: SAN - t = 1269980058.43, depth = 30.04 meters Navigation: SAN - Offset is 14.62 meters : TerrainNav update at nav time = 371.994517 : TerrainNav update at dvl time = 371.994517 : _navData-> (x,y) = (4074727.47, 591359.17) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201420.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201419.40,3648.8397,N,-12158.5435,W,1,03,00.5,058.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201421.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201420.41,3648.8404,N,-12158.5442,W,1,03,00.5,059.0,M,-99.9,M,,*44 : Estimated North Bias at time = 371.99 : 12.71 : Estimated East Bias at time = 371.99 : -7.21 : Estimated Depth Bias at time = 371.99 : 0.58 : Estimated northing and easting = 4074740.18 : 591351.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201422.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201421.41,3648.8412,N,-12158.5449,W,1,03,00.5,058.0,M,-99.9,M,,*48 : TerrainNav update at nav time = 374.994311 : TerrainNav update at dvl time = 374.994311 : _navData-> (x,y) = (4074731.38, 591356.07) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201423.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201422.41,3648.8419,N,-12158.5456,W,1,03,00.5,058.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201424.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201423.41,3648.8426,N,-12158.5463,W,1,03,00.5,058.5,M,-99.9,M,,*40 : Estimated North Bias at time = 374.99 : 13.28 : Estimated East Bias at time = 374.99 : -6.38 : Estimated Depth Bias at time = 374.99 : 0.58 : Estimated northing and easting = 4074744.66 : 591349.69 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201425.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201424.41,3648.8434,N,-12158.5469,W,1,03,00.5,058.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 377.994106 : TerrainNav update at dvl time = 377.994106 : _navData-> (x,y) = (4074735.47, 591353.23) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201426.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201425.41,3648.8441,N,-12158.5474,W,1,03,00.5,059.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201427.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201426.41,3648.8449,N,-12158.5477,W,1,03,00.5,059.3,M,-99.9,M,,*4e : Estimated North Bias at time = 377.99 : 12.61 : Estimated East Bias at time = 377.99 : -7.55 : Estimated Depth Bias at time = 377.99 : 0.57 : Estimated northing and easting = 4074748.09 : 591345.69 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201428.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201427.41,3648.8456,N,-12158.5479,W,1,03,00.5,060.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 380.993900 : TerrainNav update at dvl time = 380.993900 : _navData-> (x,y) = (4074739.57, 591352.03) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201429.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201428.41,3648.8463,N,-12158.5480,W,1,03,00.5,059.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201430.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201429.41,3648.8471,N,-12158.5481,W,1,03,00.5,059.6,M,-99.9,M,,*46 : Estimated North Bias at time = 380.99 : 11.46 : Estimated East Bias at time = 380.99 : -9.85 : Estimated Depth Bias at time = 380.99 : 0.58 : Estimated northing and easting = 4074751.03 : 591342.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201431.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201430.41,3648.8479,N,-12158.5482,W,1,03,00.5,059.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : TerrainNav update at nav time = 383.993695 : TerrainNav update at dvl time = 383.993695 : _navData-> (x,y) = (4074743.87, 591351.57) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201432.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201431.41,3648.8487,N,-12158.5484,W,1,03,00.5,059.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 383.99 : 10.60 : Estimated East Bias at time = 383.99 : -10.81 : Estimated Depth Bias at time = 383.99 : 0.58 : Estimated northing and easting = 4074754.47 : 591340.76 : AshtechGps::processRecord() - $GPGGA,201433.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201432.41,3648.8495,N,-12158.5486,W,1,03,00.5,058.6,M,-99.9,M,,*40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201434.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201433.41,3648.8504,N,-12158.5490,W,1,03,00.5,059.0,M,-99.9,M,,*48 : TerrainNav update at nav time = 386.993489 : TerrainNav update at dvl time = 386.993489 : _navData-> (x,y) = (4074748.53, 591350.08) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201435.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201434.41,3648.8513,N,-12158.5494,W,1,03,00.5,058.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : Estimated North Bias at time = 386.99 : 11.31 : Estimated East Bias at time = 386.99 : -8.99 : Estimated Depth Bias at time = 386.99 : 0.58 : Estimated northing and easting = 4074759.84 : 591341.09 : AshtechGps::processRecord() - $GPGGA,201436.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201435.41,3648.8522,N,-12158.5499,W,1,03,00.5,058.8,M,-99.9,M,,*4a : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201437.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201436.41,3648.8531,N,-12158.5502,W,1,03,00.5,058.0,M,-99.9,M,,*40 : TerrainNav update at nav time = 389.993284 : TerrainNav update at dvl time = 389.993284 : _navData-> (x,y) = (4074753.49, 591348.34) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201438.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201437.41,3648.8539,N,-12158.5505,W,1,03,00.5,059.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201439.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201438.41,3648.8548,N,-12158.5507,W,1,03,00.5,058.9,M,-99.9,M,,*4c : Estimated North Bias at time = 389.99 : 11.26 : Estimated East Bias at time = 389.99 : -9.39 : Estimated Depth Bias at time = 389.99 : 0.58 : Estimated northing and easting = 4074764.75 : 591338.95 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=5.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201440.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201439.41,3648.8556,N,-12158.5508,W,1,03,00.5,059.4,M,-99.9,M,,*41 : TerrainNav update at nav time = 392.993078 : TerrainNav update at dvl time = 392.993078 : _navData-> (x,y) = (4074758.16, 591347.61) : _tercom->outstandingMeas() = 0 : Waypoint has set the state to finished. : Waypoint (4074758.7, 591347.7), reached at t = 435.20 (wplog) : Vehicle Position is error is (0.0, 0.2) : LayeredControl::execute() -- (t = 435.200187) Behavior waypoint:-1 has changed to state Finished : WaypointDepth initialization: Begin waypoint control at t= 435.20 (wplog) The current location (N,E) = 4074758.7 , 591347.6 (wplog) The next waypoint = 4074855.8 , 591037.8 (wplog) The bearing to the next w.p. is 287.4 Degrees. The distance to the next w.p. is 324.6 Meters. The slope to the next w.p. is -0.2464. The initial commanded depth is 30.0 meters. The final commanded depth is 110.0 meters. : LayeredControl::execute() -- (t = 435.210186) Behavior waypoint_depth:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201441.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201440.41,3648.8564,N,-12158.5509,W,1,03,00.5,059.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201442.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201441.41,3648.8572,N,-12158.5510,W,1,03,00.5,059.1,M,-99.9,M,,*44 : Estimated North Bias at time = 392.99 : 10.98 : Estimated East Bias at time = 392.99 : -10.55 : Estimated Depth Bias at time = 392.99 : 0.58 : Estimated northing and easting = 4074769.14 : 591337.06 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.21 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201443.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201442.41,3648.8580,N,-12158.5512,W,1,03,00.5,058.7,M,-99.9,M,,*4f : TerrainNav update at nav time = 395.992873 : TerrainNav update at dvl time = 395.992873 : _navData-> (x,y) = (4074762.39, 591346.83) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.48 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201444.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201443.41,3648.8587,N,-12158.5515,W,1,03,00.5,058.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201445.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201444.41,3648.8594,N,-12158.5519,W,1,03,00.5,059.5,M,-99.9,M,,*44 : Estimated North Bias at time = 395.99 : 11.07 : Estimated East Bias at time = 395.99 : -10.67 : Estimated Depth Bias at time = 395.99 : 0.58 : Estimated northing and easting = 4074773.47 : 591336.16 : LayeredControl _resolvedCommand - vertMode=2 vert=30.85 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201446.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201445.41,3648.8601,N,-12158.5526,W,1,03,00.5,057.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=31.32 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 399.002666 : TerrainNav update at dvl time = 399.002666 : _navData-> (x,y) = (4074766.30, 591344.31) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201447.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201446.41,3648.8608,N,-12158.5533,W,1,03,00.5,057.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=31.83 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201448.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201447.41,3648.8614,N,-12158.5541,W,1,03,00.5,058.6,M,-99.9,M,,*43 : Estimated North Bias at time = 399.00 : 12.10 : Estimated East Bias at time = 399.00 : -8.10 : Estimated Depth Bias at time = 399.00 : 0.58 : Estimated northing and easting = 4074778.40 : 591336.21 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201449.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201448.41,3648.8619,N,-12158.5550,W,1,03,00.5,059.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=32.32 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 402.002461 : TerrainNav update at dvl time = 402.002461 : _navData-> (x,y) = (4074769.19, 591340.70) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201450.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201449.41,3648.8623,N,-12158.5557,W,1,03,00.5,059.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=32.73 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201451.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201450.41,3648.8625,N,-12158.5564,W,1,03,00.5,059.1,M,-99.9,M,,*46 : Estimated North Bias at time = 402.00 : 12.48 : Estimated East Bias at time = 402.00 : -8.70 : Estimated Depth Bias at time = 402.00 : 0.57 : Estimated northing and easting = 4074781.68 : 591332.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201452.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201451.41,3648.8627,N,-12158.5570,W,1,03,00.5,059.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=33.05 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 405.002255 : TerrainNav update at dvl time = 405.002255 : _navData-> (x,y) = (4074770.25, 591337.86) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201453.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201452.41,3648.8627,N,-12158.5575,W,1,03,00.5,058.3,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=33.31 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201454.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201453.41,3648.8627,N,-12158.5581,W,1,03,00.5,059.0,M,-99.9,M,,*4d : Estimated North Bias at time = 405.00 : 13.10 : Estimated East Bias at time = 405.00 : -9.31 : Estimated Depth Bias at time = 405.00 : 0.58 : Estimated northing and easting = 4074783.35 : 591328.55 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=33.63 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201455.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201454.41,3648.8626,N,-12158.5588,W,1,03,00.5,057.6,M,-99.9,M,,*4a : TerrainNav update at nav time = 408.002050 : TerrainNav update at dvl time = 408.002050 : _navData-> (x,y) = (4074769.94, 591334.97) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201456.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201455.41,3648.8625,N,-12158.5596,W,1,03,00.5,057.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=33.99 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : Estimated North Bias at time = 408.00 : 14.13 : Estimated East Bias at time = 408.00 : -8.45 : Estimated Depth Bias at time = 408.00 : 0.58 : Estimated northing and easting = 4074784.07 : 591326.52 : AshtechGps::processRecord() - $GPGGA,201457.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201456.41,3648.8624,N,-12158.5604,W,1,03,00.5,057.4,M,-99.9,M,,*4f : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=34.36 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201458.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201457.41,3648.8623,N,-12158.5612,W,1,03,00.5,057.4,M,-99.9,M,,*4e : TerrainNav update at nav time = 411.001844 : TerrainNav update at dvl time = 411.001844 : _navData-> (x,y) = (4074769.42, 591331.49) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201459.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201458.41,3648.8623,N,-12158.5619,W,1,03,00.5,056.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=34.72 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : Estimated North Bias at time = 411.00 : 14.78 : Estimated East Bias at time = 411.00 : -7.91 : Estimated Depth Bias at time = 411.00 : 0.58 : Estimated northing and easting = 4074784.20 : 591323.58 : AshtechGps::processRecord() - $GPGGA,201500.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201459.41,3648.8623,N,-12158.5628,W,1,03,00.5,056.2,M,-99.9,M,,*4e : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=35.17 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201501.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201500.41,3648.8623,N,-12158.5637,W,1,03,00.5,056.5,M,-99.9,M,,*4a : TerrainNav update at nav time = 414.001639 : TerrainNav update at dvl time = 414.001639 : _navData-> (x,y) = (4074769.42, 591327.54) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=35.62 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201502.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201501.41,3648.8623,N,-12158.5646,W,1,03,00.5,057.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201503.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201502.41,3648.8623,N,-12158.5655,W,1,03,00.5,057.0,M,-99.9,M,,*48 : Estimated North Bias at time = 414.00 : 15.17 : Estimated East Bias at time = 414.00 : -7.06 : Estimated Depth Bias at time = 414.00 : 0.57 : Estimated northing and easting = 4074784.58 : 591320.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=36.05 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201504.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201503.41,3648.8623,N,-12158.5664,W,1,03,00.5,056.9,M,-99.9,M,,*43 : TerrainNav update at nav time = 417.001433 : TerrainNav update at dvl time = 417.001433 : _navData-> (x,y) = (4074769.30, 591323.67) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=36.45 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201505.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201504.41,3648.8623,N,-12158.5672,W,1,03,00.5,056.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201506.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201505.41,3648.8622,N,-12158.5680,W,1,03,00.5,056.7,M,-99.9,M,,*40 : Estimated North Bias at time = 417.00 : 15.46 : Estimated East Bias at time = 417.00 : -8.02 : Estimated Depth Bias at time = 417.00 : 0.57 : Estimated northing and easting = 4074784.76 : 591315.65 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=36.82 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201507.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201506.41,3648.8622,N,-12158.5687,W,1,03,00.5,056.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=37.18 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 420.001228 : TerrainNav update at dvl time = 420.001228 : _navData-> (x,y) = (4074769.01, 591320.22) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201508.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201507.41,3648.8621,N,-12158.5695,W,1,03,00.5,056.7,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=37.60 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201509.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201508.41,3648.8621,N,-12158.5704,W,1,03,00.5,055.8,M,-99.9,M,,*4f : Estimated North Bias at time = 420.00 : 15.54 : Estimated East Bias at time = 420.00 : -8.77 : Estimated Depth Bias at time = 420.00 : 0.56 : Estimated northing and easting = 4074784.54 : 591311.45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201510.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201509.41,3648.8622,N,-12158.5713,W,1,03,00.5,055.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=38.06 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 423.001022 : TerrainNav update at dvl time = 423.001022 : _navData-> (x,y) = (4074769.12, 591316.20) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201511.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201510.41,3648.8623,N,-12158.5723,W,1,03,00.5,055.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=38.58 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : Estimated North Bias at time = 423.00 : 15.52 : Estimated East Bias at time = 423.00 : -8.59 : AshtechGps::processRecord() - $GPGGA,201512.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201511.41,3648.8624,N,-12158.5733,W,1,03,00.5,054.9,M,-99.9,M,,*46 : Estimated Depth Bias at time = 423.00 : 0.55 : Estimated northing and easting = 4074784.64 : 591307.61 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201513.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201512.41,3648.8625,N,-12158.5744,W,1,03,00.5,054.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=39.12 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 426.000817 : TerrainNav update at dvl time = 426.000817 : _navData-> (x,y) = (4074769.80, 591311.57) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201514.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201513.41,3648.8627,N,-12158.5754,W,1,03,00.5,054.5,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=39.67 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201515.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201514.41,3648.8628,N,-12158.5765,W,1,03,00.5,054.2,M,-99.9,M,,*47 : Estimated North Bias at time = 426.00 : 14.93 : Estimated East Bias at time = 426.00 : -8.97 : Estimated Depth Bias at time = 426.00 : 0.55 : Estimated northing and easting = 4074784.73 : 591302.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=40.19 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201516.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201515.41,3648.8630,N,-12158.5775,W,1,03,00.5,054.1,M,-99.9,M,,*4d : TerrainNav update at nav time = 429.000612 : TerrainNav update at dvl time = 429.000612 : _navData-> (x,y) = (4074770.52, 591306.96) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201517.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201516.41,3648.8631,N,-12158.5785,W,1,03,00.5,053.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=40.69 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201518.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201517.41,3648.8632,N,-12158.5794,W,1,03,00.5,053.8,M,-99.9,M,,*4c : Estimated North Bias at time = 429.00 : 14.28 : Estimated East Bias at time = 429.00 : -9.77 : Estimated Depth Bias at time = 429.00 : 0.55 : Estimated northing and easting = 4074784.80 : 591297.19 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=41.14 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201519.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201518.41,3648.8633,N,-12158.5803,W,1,03,00.5,053.3,M,-99.9,M,,*48 : TerrainNav update at nav time = 432.000406 : TerrainNav update at dvl time = 432.000406 : _navData-> (x,y) = (4074771.02, 591302.97) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201520.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201519.41,3648.8634,N,-12158.5811,W,1,03,00.5,053.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=41.58 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201521.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201520.41,3648.8635,N,-12158.5820,W,1,03,00.5,053.9,M,-99.9,M,,*4e : Estimated North Bias at time = 432.00 : 13.09 : Estimated East Bias at time = 432.00 : -10.83 : Estimated Depth Bias at time = 432.00 : 0.54 : Estimated northing and easting = 4074784.11 : 591292.13 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=42.04 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201522.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201521.41,3648.8637,N,-12158.5829,W,1,03,00.5,053.9,M,-99.9,M,,*44 : TerrainNav update at nav time = 435.000201 : TerrainNav update at dvl time = 435.000201 : _navData-> (x,y) = (4074771.82, 591298.92) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=42.55 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201523.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201522.41,3648.8639,N,-12158.5839,W,1,03,00.5,053.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201524.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201523.41,3648.8641,N,-12158.5849,W,1,03,00.5,053.4,M,-99.9,M,,*4c : Estimated North Bias at time = 435.00 : 10.37 : Estimated East Bias at time = 435.00 : -12.10 : Estimated Depth Bias at time = 435.00 : 0.54 : Estimated northing and easting = 4074782.19 : 591286.83 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=43.08 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201525.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201524.41,3648.8643,N,-12158.5859,W,1,03,00.5,053.1,M,-99.9,M,,*4d : TerrainNav update at nav time = 437.999995 : TerrainNav update at dvl time = 437.999995 : _navData-> (x,y) = (4074773.02, 591294.46) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=43.61 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201526.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201525.41,3648.8646,N,-12158.5869,W,1,03,00.5,052.8,M,-99.9,M,,*42 : Estimated North Bias at time = 438.00 : 8.54 : Estimated East Bias at time = 438.00 : -12.80 : Estimated Depth Bias at time = 438.00 : 0.53 : Estimated northing and easting = 4074781.56 : 591281.66 : AshtechGps::processRecord() - $GPGGA,201527.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201526.41,3648.8648,N,-12158.5879,W,1,03,00.5,052.4,M,-99.9,M,,*42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=44.15 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201528.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201527.41,3648.8650,N,-12158.5889,W,1,03,00.5,052.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=44.69 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 440.999789 : TerrainNav update at dvl time = 440.999789 : _navData-> (x,y) = (4074774.18, 591289.93) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201529.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201528.41,3648.8652,N,-12158.5899,W,1,03,00.5,052.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=45.23 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201530.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 441.00 : 6.69 : Estimated East Bias at time = 441.00 : -13.47 : NMEA Update: $GPGGA,201529.41,3648.8654,N,-12158.5910,W,1,03,00.5,052.2,M,-99.9,M,,*48 : Estimated Depth Bias at time = 441.00 : 0.53 : Estimated northing and easting = 4074780.87 : 591276.46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201531.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201530.41,3648.8657,N,-12158.5919,W,1,03,00.5,052.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=45.75 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 443.999584 : TerrainNav update at dvl time = 443.999584 : _navData-> (x,y) = (4074775.36, 591285.47) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201532.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201531.41,3648.8659,N,-12158.5929,W,1,03,00.5,052.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=46.24 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201533.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201532.41,3648.8661,N,-12158.5938,W,1,03,00.5,052.4,M,-99.9,M,,*48 : Estimated North Bias at time = 444.00 : 4.25 : Estimated East Bias at time = 444.00 : -14.31 : Estimated Depth Bias at time = 444.00 : 0.53 : Estimated northing and easting = 4074779.61 : 591271.15 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201534.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201533.41,3648.8663,N,-12158.5947,W,1,03,00.5,051.2,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=46.71 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 446.999378 : TerrainNav update at dvl time = 446.999378 : _navData-> (x,y) = (4074776.57, 591281.50) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201535.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201534.41,3648.8666,N,-12158.5955,W,1,03,00.5,051.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=47.19 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : Estimated North Bias at time = 447.00 : 2.26 : Estimated East Bias at time = 447.00 : -15.01 : Estimated Depth Bias at time = 447.00 : 0.53 : Estimated northing and easting = 4074778.83 : 591266.49 : AshtechGps::processRecord() - $GPGGA,201536.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201535.41,3648.8668,N,-12158.5964,W,1,03,00.5,051.4,M,-99.9,M,,*4c : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=47.70 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201537.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201536.41,3648.8672,N,-12158.5974,W,1,03,00.5,050.9,M,-99.9,M,,*49 : TerrainNav update at nav time = 449.999173 : TerrainNav update at dvl time = 449.999173 : _navData-> (x,y) = (4074778.21, 591277.40) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201538.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201537.41,3648.8675,N,-12158.5983,W,1,03,00.5,050.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=48.23 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : Estimated North Bias at time = 450.00 : 0.90 : Estimated East Bias at time = 450.00 : -14.97 : Estimated Depth Bias at time = 450.00 : 0.54 : Estimated northing and easting = 4074779.11 : 591262.44 : AshtechGps::processRecord() - $GPGGA,201539.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201538.41,3648.8679,N,-12158.5992,W,1,03,00.5,051.2,M,-99.9,M,,*4e : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=48.76 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201540.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201539.41,3648.8682,N,-12158.6002,W,1,03,00.5,050.7,M,-99.9,M,,*4c : TerrainNav update at nav time = 452.998967 : TerrainNav update at dvl time = 452.998967 : _navData-> (x,y) = (4074780.05, 591273.22) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201541.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201540.41,3648.8685,N,-12158.6011,W,1,03,00.5,049.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=49.27 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : Estimated North Bias at time = 453.00 : 0.07 : Estimated East Bias at time = 453.00 : -15.17 : Estimated Depth Bias at time = 453.00 : 0.54 : Estimated northing and easting = 4074780.12 : 591258.05 : AshtechGps::processRecord() - $GPGGA,201542.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201541.41,3648.8688,N,-12158.6020,W,1,03,00.5,051.2,M,-99.9,M,,*4d : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=49.75 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201543.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201542.41,3648.8691,N,-12158.6029,W,1,03,00.5,050.6,M,-99.9,M,,*4a : TerrainNav update at nav time = 455.998762 : TerrainNav update at dvl time = 455.998762 : _navData-> (x,y) = (4074781.62, 591269.27) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.23 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201544.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201543.41,3648.8694,N,-12158.6037,W,1,03,00.5,050.0,M,-99.9,M,,*47 : Estimated North Bias at time = 456.00 : -1.78 : Estimated East Bias at time = 456.00 : -15.91 : Estimated Depth Bias at time = 456.00 : 0.54 : Estimated northing and easting = 4074779.83 : 591253.36 : AshtechGps::processRecord() - $GPGGA,201545.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201544.41,3648.8697,N,-12158.6046,W,1,03,00.5,049.8,M,-99.9,M,,*45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.72 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201546.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201545.41,3648.8699,N,-12158.6055,W,1,03,00.5,049.7,M,-99.9,M,,*47 : TerrainNav update at nav time = 458.998556 : TerrainNav update at dvl time = 458.998556 : _navData-> (x,y) = (4074783.14, 591265.22) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=51.23 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201547.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201546.41,3648.8702,N,-12158.6065,W,1,03,00.5,049.6,M,-99.9,M,,*45 : Estimated North Bias at time = 459.00 : -3.27 : Estimated East Bias at time = 459.00 : -16.12 : Estimated Depth Bias at time = 459.00 : 0.55 : Estimated northing and easting = 4074779.87 : 591249.10 : AshtechGps::processRecord() - $GPGGA,201548.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201547.41,3648.8705,N,-12158.6074,W,1,03,00.5,049.5,M,-99.9,M,,*40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=51.77 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201549.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201548.41,3648.8708,N,-12158.6084,W,1,03,00.5,049.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=52.32 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 461.998351 : TerrainNav update at dvl time = 461.998351 : _navData-> (x,y) = (4074784.81, 591260.79) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201550.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201549.41,3648.8712,N,-12158.6094,W,1,03,00.5,049.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=52.86 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201551.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201550.41,3648.8715,N,-12158.6104,W,1,03,00.5,050.6,M,-99.9,M,,*4a : Estimated North Bias at time = 462.00 : -5.63 : Estimated East Bias at time = 462.00 : -16.52 : Estimated Depth Bias at time = 462.00 : 0.54 : Estimated northing and easting = 4074779.18 : 591244.27 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201552.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201551.41,3648.8718,N,-12158.6113,W,1,03,00.5,050.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=53.35 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 464.998145 : TerrainNav update at dvl time = 464.998145 : _navData-> (x,y) = (4074786.39, 591256.64) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201553.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201552.41,3648.8720,N,-12158.6122,W,1,03,00.5,050.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=53.80 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201554.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201553.41,3648.8723,N,-12158.6130,W,1,03,00.5,050.7,M,-99.9,M,,*4a : Estimated North Bias at time = 465.00 : -10.12 : Estimated East Bias at time = 465.00 : -18.17 : Estimated Depth Bias at time = 465.00 : 0.55 : Estimated northing and easting = 4074776.27 : 591238.47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201555.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201554.41,3648.8725,N,-12158.6138,W,1,03,00.5,051.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=54.23 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 467.997940 : TerrainNav update at dvl time = 467.997940 : _navData-> (x,y) = (4074787.73, 591253.05) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201556.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201555.41,3648.8728,N,-12158.6146,W,1,03,00.5,051.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=54.68 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : Estimated North Bias at time = 468.00 : -14.46 : Estimated East Bias at time = 468.00 : -19.76 : Estimated Depth Bias at time = 468.00 : 0.53 : Estimated northing and easting = 4074773.26 : 591233.29 : AshtechGps::processRecord() - $GPGGA,201557.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201556.41,3648.8730,N,-12158.6154,W,1,03,00.5,051.6,M,-99.9,M,,*4f : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=55.16 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201558.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201557.41,3648.8732,N,-12158.6163,W,1,03,00.5,051.6,M,-99.9,M,,*48 : TerrainNav update at nav time = 470.997735 : TerrainNav update at dvl time = 470.997735 : _navData-> (x,y) = (4074789.06, 591249.15) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201559.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201558.41,3648.8735,N,-12158.6172,W,1,03,00.5,051.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=55.67 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : Estimated North Bias at time = 471.00 : -17.01 : Estimated East Bias at time = 471.00 : -20.08 : Estimated Depth Bias at time = 471.00 : 0.51 : Estimated northing and easting = 4074772.04 : 591229.07 : AshtechGps::processRecord() - $GPGGA,201600.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201559.41,3648.8738,N,-12158.6182,W,1,03,00.5,051.1,M,-99.9,M,,*44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=56.21 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201601.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201600.41,3648.8740,N,-12158.6192,W,1,03,00.5,050.8,M,-99.9,M,,*4d : TerrainNav update at nav time = 473.997529 : TerrainNav update at dvl time = 473.997529 : _navData-> (x,y) = (4074790.45, 591244.69) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201602.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201601.41,3648.8743,N,-12158.6203,W,1,03,00.5,051.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=56.76 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201603.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201602.41,3648.8745,N,-12158.6213,W,1,03,00.5,051.3,M,-99.9,M,,*4a : Estimated North Bias at time = 474.00 : -18.53 : Estimated East Bias at time = 474.00 : -19.89 : Estimated Depth Bias at time = 474.00 : 0.52 : Estimated northing and easting = 4074771.92 : 591224.80 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=57.31 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201604.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201603.41,3648.8748,N,-12158.6223,W,1,03,00.5,051.5,M,-99.9,M,,*43 : TerrainNav update at nav time = 476.997324 : TerrainNav update at dvl time = 476.997324 : _navData-> (x,y) = (4074791.79, 591240.19) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=57.83 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201605.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201604.41,3648.8750,N,-12158.6232,W,1,03,00.5,051.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201606.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201605.41,3648.8753,N,-12158.6241,W,1,03,00.5,051.5,M,-99.9,M,,*4b : Estimated North Bias at time = 477.00 : -20.41 : Estimated East Bias at time = 477.00 : -20.13 : Estimated Depth Bias at time = 477.00 : 0.53 : Estimated northing and easting = 4074771.38 : 591220.07 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=58.30 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201607.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201606.41,3648.8755,N,-12158.6250,W,1,03,00.5,051.9,M,-99.9,M,,*42 : TerrainNav update at nav time = 479.997118 : TerrainNav update at dvl time = 479.997118 : _navData-> (x,y) = (4074792.96, 591236.32) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=58.74 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201608.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201607.41,3648.8757,N,-12158.6258,W,1,03,00.5,051.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201609.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201608.41,3648.8759,N,-12158.6266,W,1,03,00.5,051.7,M,-99.9,M,,*4b : Estimated North Bias at time = 480.00 : -22.00 : Estimated East Bias at time = 480.00 : -20.81 : Estimated Depth Bias at time = 480.00 : 0.53 : Estimated northing and easting = 4074770.96 : 591215.51 : LayeredControl _resolvedCommand - vertMode=2 vert=59.17 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201610.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201609.41,3648.8761,N,-12158.6274,W,1,03,00.5,051.6,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=59.61 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 482.996912 : TerrainNav update at dvl time = 482.996912 : _navData-> (x,y) = (4074794.07, 591232.71) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201611.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201610.41,3648.8763,N,-12158.6282,W,1,03,00.5,051.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=60.08 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201612.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201611.41,3648.8765,N,-12158.6291,W,1,03,00.5,051.6,M,-99.9,M,,*45 : Estimated North Bias at time = 483.00 : -23.36 : Estimated East Bias at time = 483.00 : -20.92 : Estimated Depth Bias at time = 483.00 : 0.53 : Estimated northing and easting = 4074770.70 : 591211.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201613.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201612.41,3648.8768,N,-12158.6300,W,1,03,00.5,051.2,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=60.58 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 485.996707 : TerrainNav update at dvl time = 485.996707 : _navData-> (x,y) = (4074795.41, 591228.69) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201614.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201613.41,3648.8771,N,-12158.6309,W,1,03,00.5,051.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=61.09 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201615.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201614.41,3648.8773,N,-12158.6319,W,1,03,00.5,051.7,M,-99.9,M,,*47 : Estimated North Bias at time = 486.00 : -25.25 : Estimated East Bias at time = 486.00 : -20.84 : Estimated Depth Bias at time = 486.00 : 0.53 : Estimated northing and easting = 4074770.16 : 591207.85 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201616.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201615.41,3648.8776,N,-12158.6328,W,1,03,00.5,051.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=61.60 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 488.996501 : TerrainNav update at dvl time = 488.996501 : _navData-> (x,y) = (4074796.82, 591224.51) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201617.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201616.41,3648.8778,N,-12158.6337,W,1,03,00.5,051.8,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=62.09 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201618.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201617.41,3648.8781,N,-12158.6346,W,1,03,00.5,051.7,M,-99.9,M,,*43 : Estimated North Bias at time = 489.00 : -27.51 : Estimated East Bias at time = 489.00 : -20.97 : Estimated Depth Bias at time = 489.00 : 0.53 : Estimated northing and easting = 4074769.31 : 591203.54 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=62.58 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201619.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201618.41,3648.8783,N,-12158.6356,W,1,03,00.5,051.8,M,-99.9,M,,*40 : TerrainNav update at nav time = 491.996296 : TerrainNav update at dvl time = 491.996296 : _navData-> (x,y) = (4074798.06, 591220.45) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201620.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201619.41,3648.8785,N,-12158.6364,W,1,03,00.5,052.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=63.06 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201621.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201620.41,3648.8787,N,-12158.6373,W,1,03,00.5,052.9,M,-99.9,M,,*4a : Estimated North Bias at time = 492.00 : -29.16 : Estimated East Bias at time = 492.00 : -21.32 : Estimated Depth Bias at time = 492.00 : 0.53 : Estimated northing and easting = 4074768.90 : 591199.13 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=63.53 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201622.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201621.41,3648.8790,N,-12158.6382,W,1,03,00.5,053.1,M,-99.9,M,,*4a : TerrainNav update at nav time = 494.996090 : TerrainNav update at dvl time = 494.996090 : _navData-> (x,y) = (4074799.22, 591216.53) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201623.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201622.41,3648.8792,N,-12158.6391,W,1,03,00.5,052.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=63.99 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201624.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201623.40,3648.8794,N,-12158.6399,W,1,03,00.5,053.9,M,-99.9,M,,*4f : Estimated North Bias at time = 495.00 : -30.89 : Estimated East Bias at time = 495.00 : -21.60 : Estimated Depth Bias at time = 495.00 : 0.54 : Estimated northing and easting = 4074768.34 : 591194.94 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=64.46 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201625.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201624.40,3648.8797,N,-12158.6408,W,1,03,00.5,053.2,M,-99.9,M,,*4f : TerrainNav update at nav time = 497.995885 : TerrainNav update at dvl time = 497.995885 : _navData-> (x,y) = (4074800.52, 591212.65) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=64.94 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201626.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201625.40,3648.8799,N,-12158.6417,W,1,03,00.5,054.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201627.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201626.40,3648.8802,N,-12158.6426,W,1,03,00.5,054.7,M,-99.9,M,,*40 : Estimated North Bias at time = 498.00 : -32.46 : Estimated East Bias at time = 498.00 : -21.91 : Estimated Depth Bias at time = 498.00 : 0.54 : Estimated northing and easting = 4074768.06 : 591190.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=65.43 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201628.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201627.40,3648.8805,N,-12158.6435,W,1,03,00.5,054.7,M,-99.9,M,,*44 : TerrainNav update at nav time = 500.995679 : TerrainNav update at dvl time = 500.995679 : _navData-> (x,y) = (4074802.03, 591208.65) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=65.92 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201629.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201628.40,3648.8808,N,-12158.6444,W,1,03,00.5,055.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201630.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201629.40,3648.8810,N,-12158.6453,W,1,03,00.5,055.2,M,-99.9,M,,*4a : Estimated North Bias at time = 501.00 : -33.79 : Estimated East Bias at time = 501.00 : -22.39 : Estimated Depth Bias at time = 501.00 : 0.55 : Estimated northing and easting = 4074768.24 : 591186.27 : LayeredControl _resolvedCommand - vertMode=2 vert=66.42 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201631.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201630.40,3648.8813,N,-12158.6462,W,1,03,00.5,055.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=66.91 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 503.995474 : TerrainNav update at dvl time = 503.995474 : _navData-> (x,y) = (4074803.46, 591204.61) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201632.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201631.40,3648.8816,N,-12158.6471,W,1,03,00.5,055.9,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=67.39 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201633.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201632.40,3648.8818,N,-12158.6479,W,1,03,00.5,056.0,M,-99.9,M,,*41 : Estimated North Bias at time = 504.00 : -35.18 : Estimated East Bias at time = 504.00 : -22.72 : Estimated Depth Bias at time = 504.00 : 0.55 : Estimated northing and easting = 4074768.29 : 591181.89 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201634.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201633.40,3648.8820,N,-12158.6488,W,1,03,00.5,055.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=67.86 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 506.995268 : TerrainNav update at dvl time = 506.995268 : _navData-> (x,y) = (4074804.76, 591200.68) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201635.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201634.40,3648.8823,N,-12158.6497,W,1,03,00.5,056.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=68.33 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,201635.40,3648.8825,N,-12158.6506,W,1,03,00.5,056.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201636.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 507.00 : -37.09 : Estimated East Bias at time = 507.00 : -22.95 : Estimated Depth Bias at time = 507.00 : 0.55 : Estimated northing and easting = 4074767.67 : 591177.73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201637.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201636.40,3648.8828,N,-12158.6514,W,1,03,00.5,056.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=68.81 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 509.995063 : TerrainNav update at dvl time = 509.995063 : _navData-> (x,y) = (4074806.09, 591196.75) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201638.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201637.40,3648.8830,N,-12158.6523,W,1,03,00.5,056.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=69.30 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201639.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201638.40,3648.8833,N,-12158.6532,W,1,03,00.5,056.6,M,-99.9,M,,*4a : Estimated North Bias at time = 510.00 : -38.13 : Estimated East Bias at time = 510.00 : -23.08 : Estimated Depth Bias at time = 510.00 : 0.55 : Estimated northing and easting = 4074767.97 : 591173.67 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=69.80 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201640.00,,,,,0,00,,,M,,M,,*49 : NMEA Update: $GPGGA,201639.40,3648.8836,N,-12158.6541,W,1,03,00.5,056.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 512.994858 : TerrainNav update at dvl time = 512.994858 : _navData-> (x,y) = (4074807.53, 591192.67) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201641.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201640.40,3648.8838,N,-12158.6551,W,1,03,00.5,056.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=70.30 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201642.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201641.40,3648.8841,N,-12158.6560,W,1,03,00.5,056.6,M,-99.9,M,,*46 : Estimated North Bias at time = 512.99 : -39.49 : Estimated East Bias at time = 512.99 : -23.19 : Estimated Depth Bias at time = 512.99 : 0.55 : Estimated northing and easting = 4074768.04 : 591169.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=70.81 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201643.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201642.40,3648.8844,N,-12158.6569,W,1,03,00.5,057.0,M,-99.9,M,,*4e : TerrainNav update at nav time = 515.994652 : TerrainNav update at dvl time = 515.994652 : _navData-> (x,y) = (4074808.94, 591188.52) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201643.40,3648.8846,N,-12158.6579,W,1,03,00.5,057.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201644.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=71.31 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201645.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201644.40,3648.8848,N,-12158.6588,W,1,03,00.5,056.8,M,-99.9,M,,*42 : Estimated North Bias at time = 515.99 : -40.96 : Estimated East Bias at time = 515.99 : -23.39 : Estimated Depth Bias at time = 515.99 : 0.55 : Estimated northing and easting = 4074767.98 : 591165.13 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=71.81 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201646.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201645.40,3648.8851,N,-12158.6597,W,1,03,00.5,057.4,M,-99.9,M,,*48 : TerrainNav update at nav time = 518.994447 : TerrainNav update at dvl time = 518.994447 : _navData-> (x,y) = (4074810.19, 591184.40) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=72.30 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201647.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201646.41,3648.8853,N,-12158.6606,W,1,03,00.5,058.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201648.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201647.41,3648.8855,N,-12158.6615,W,1,03,00.5,057.3,M,-99.9,M,,*41 : Estimated North Bias at time = 518.99 : -42.04 : Estimated East Bias at time = 518.99 : -23.58 : Estimated Depth Bias at time = 518.99 : 0.56 : Estimated northing and easting = 4074768.15 : 591160.82 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=72.78 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201649.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201648.41,3648.8857,N,-12158.6624,W,1,03,00.5,058.1,M,-99.9,M,,*43 : TerrainNav update at nav time = 521.994241 : TerrainNav update at dvl time = 521.994241 : _navData-> (x,y) = (4074811.37, 591180.37) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=73.26 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201650.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201649.41,3648.8860,N,-12158.6633,W,1,03,00.5,058.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201651.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201650.41,3648.8862,N,-12158.6642,W,1,03,00.5,057.6,M,-99.9,M,,*44 : Estimated North Bias at time = 521.99 : -44.14 : Estimated East Bias at time = 521.99 : -23.68 : Estimated Depth Bias at time = 521.99 : 0.56 : Estimated northing and easting = 4074767.22 : 591156.69 : LayeredControl _resolvedCommand - vertMode=2 vert=73.75 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201652.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201651.41,3648.8864,N,-12158.6652,W,1,03,00.5,057.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=74.25 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 524.994035 : TerrainNav update at dvl time = 524.994035 : _navData-> (x,y) = (4074812.61, 591176.24) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201653.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201652.41,3648.8867,N,-12158.6661,W,1,03,00.5,058.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=74.76 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201654.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201653.41,3648.8869,N,-12158.6670,W,1,03,00.5,057.3,M,-99.9,M,,*48 : Estimated North Bias at time = 524.99 : -45.54 : Estimated East Bias at time = 524.99 : -23.76 : Estimated Depth Bias at time = 524.99 : 0.57 : Estimated northing and easting = 4074767.07 : 591152.48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201655.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201654.41,3648.8871,N,-12158.6680,W,1,03,00.5,058.6,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=75.26 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 527.993830 : TerrainNav update at dvl time = 527.993830 : _navData-> (x,y) = (4074813.87, 591172.03) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201656.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201655.41,3648.8874,N,-12158.6689,W,1,03,00.5,057.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=75.77 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201657.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201656.41,3648.8876,N,-12158.6698,W,1,03,00.5,059.4,M,-99.9,M,,*4c : Estimated North Bias at time = 527.99 : -45.95 : Estimated East Bias at time = 527.99 : -23.94 : Estimated Depth Bias at time = 527.99 : 0.59 : Estimated northing and easting = 4074767.93 : 591148.09 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201658.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201657.41,3648.8878,N,-12158.6708,W,1,03,00.5,058.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=76.26 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 530.993624 : TerrainNav update at dvl time = 530.993624 : _navData-> (x,y) = (4074815.08, 591167.87) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201659.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201658.41,3648.8880,N,-12158.6717,W,1,03,00.5,059.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=76.76 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201700.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201659.41,3648.8883,N,-12158.6726,W,1,03,00.5,059.3,M,-99.9,M,,*4a : Estimated North Bias at time = 530.99 : -46.83 : Estimated East Bias at time = 530.99 : -24.26 : Estimated Depth Bias at time = 530.99 : 0.60 : Estimated northing and easting = 4074768.25 : 591143.61 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=77.26 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201701.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201700.41,3648.8885,N,-12158.6736,W,1,03,00.5,059.5,M,-99.9,M,,*46 : TerrainNav update at nav time = 533.993419 : TerrainNav update at dvl time = 533.993419 : _navData-> (x,y) = (4074816.30, 591163.71) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201702.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201701.41,3648.8887,N,-12158.6745,W,1,03,00.5,059.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=77.76 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201703.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201702.41,3648.8890,N,-12158.6754,W,1,03,00.5,059.6,M,-99.9,M,,*47 : Estimated North Bias at time = 533.99 : -47.16 : Estimated East Bias at time = 533.99 : -24.54 : Estimated Depth Bias at time = 533.99 : 0.61 : Estimated northing and easting = 4074769.14 : 591139.16 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=78.26 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201704.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201703.41,3648.8892,N,-12158.6764,W,1,03,00.5,060.5,M,-99.9,M,,*4e : TerrainNav update at nav time = 536.993213 : TerrainNav update at dvl time = 536.993213 : _navData-> (x,y) = (4074817.55, 591159.53) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201705.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201704.41,3648.8894,N,-12158.6773,W,1,03,00.5,059.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=78.76 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201706.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201705.41,3648.8897,N,-12158.6782,W,1,03,00.5,060.3,M,-99.9,M,,*43 : Estimated North Bias at time = 536.99 : -45.12 : Estimated East Bias at time = 536.99 : -25.12 : Estimated Depth Bias at time = 536.99 : 0.65 : Estimated northing and easting = 4074772.43 : 591134.41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=79.26 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201707.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201706.41,3648.8899,N,-12158.6792,W,1,03,00.5,059.3,M,-99.9,M,,*45 : TerrainNav update at nav time = 539.993008 : TerrainNav update at dvl time = 539.993008 : _navData-> (x,y) = (4074818.82, 591155.37) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=79.76 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201708.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201707.41,3648.8901,N,-12158.6801,W,1,03,00.5,060.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201709.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201708.41,3648.8904,N,-12158.6810,W,1,03,00.5,060.3,M,-99.9,M,,*41 : Estimated North Bias at time = 539.99 : -44.09 : Estimated East Bias at time = 539.99 : -25.64 : Estimated Depth Bias at time = 539.99 : 0.68 : Estimated northing and easting = 4074774.74 : 591129.73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=80.27 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201710.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201709.41,3648.8906,N,-12158.6820,W,1,03,00.5,059.7,M,-99.9,M,,*4f : TerrainNav update at nav time = 543.002802 : TerrainNav update at dvl time = 543.002802 : _navData-> (x,y) = (4074820.09, 591151.14) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=80.78 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201711.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201710.41,3648.8908,N,-12158.6829,W,1,03,00.5,060.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201712.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201711.41,3648.8911,N,-12158.6839,W,1,03,00.5,059.9,M,-99.9,M,,*46 : Estimated North Bias at time = 543.00 : -43.45 : Estimated East Bias at time = 543.00 : -26.05 : Estimated Depth Bias at time = 543.00 : 0.70 : Estimated northing and easting = 4074776.65 : 591125.09 : LayeredControl _resolvedCommand - vertMode=2 vert=81.29 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201713.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201712.41,3648.8913,N,-12158.6848,W,1,03,00.5,060.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=81.80 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 546.002596 : TerrainNav update at dvl time = 546.002596 : _navData-> (x,y) = (4074821.38, 591146.89) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201714.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201713.41,3648.8916,N,-12158.6858,W,1,03,00.5,060.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=82.32 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201715.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201714.41,3648.8918,N,-12158.6867,W,1,03,00.5,061.0,M,-99.9,M,,*43 : Estimated North Bias at time = 546.00 : -41.47 : Estimated East Bias at time = 546.00 : -26.69 : Estimated Depth Bias at time = 546.00 : 0.73 : Estimated northing and easting = 4074779.91 : 591120.20 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201716.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201715.41,3648.8921,N,-12158.6877,W,1,03,00.5,060.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=82.83 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 549.002391 : TerrainNav update at dvl time = 549.002391 : _navData-> (x,y) = (4074822.71, 591142.62) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201717.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201716.41,3648.8923,N,-12158.6886,W,1,03,00.5,060.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=83.35 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201718.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201717.41,3648.8926,N,-12158.6896,W,1,03,00.5,060.5,M,-99.9,M,,*47 : Estimated North Bias at time = 549.00 : -41.41 : Estimated East Bias at time = 549.00 : -27.09 : Estimated Depth Bias at time = 549.00 : 0.74 : Estimated northing and easting = 4074781.30 : 591115.52 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201719.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201718.41,3648.8928,N,-12158.6906,W,1,03,00.5,061.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=83.87 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 552.002185 : TerrainNav update at dvl time = 552.002185 : _navData-> (x,y) = (4074824.12, 591138.35) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201720.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201719.41,3648.8931,N,-12158.6915,W,1,03,00.5,060.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=84.39 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201721.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201720.41,3648.8934,N,-12158.6925,W,1,03,00.5,061.4,M,-99.9,M,,*49 : Estimated North Bias at time = 552.00 : -40.67 : Estimated East Bias at time = 552.00 : -27.51 : Estimated Depth Bias at time = 552.00 : 0.76 : Estimated northing and easting = 4074783.45 : 591110.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=84.90 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201722.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201721.41,3648.8937,N,-12158.6934,W,1,03,00.5,061.0,M,-99.9,M,,*4f : TerrainNav update at nav time = 555.001980 : TerrainNav update at dvl time = 555.001980 : _navData-> (x,y) = (4074825.63, 591134.10) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201723.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201722.41,3648.8940,N,-12158.6943,W,1,03,00.5,061.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=85.41 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201724.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201723.41,3648.8942,N,-12158.6953,W,1,03,00.5,060.9,M,-99.9,M,,*46 : Estimated North Bias at time = 555.00 : -40.88 : Estimated East Bias at time = 555.00 : -27.96 : Estimated Depth Bias at time = 555.00 : 0.76 : Estimated northing and easting = 4074784.76 : 591106.15 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=85.92 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201725.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201724.41,3648.8945,N,-12158.6962,W,1,03,00.5,061.1,M,-99.9,M,,*4d : TerrainNav update at nav time = 558.001774 : TerrainNav update at dvl time = 558.001774 : _navData-> (x,y) = (4074827.13, 591129.97) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201726.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201725.41,3648.8948,N,-12158.6971,W,1,03,00.5,061.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=86.42 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : Estimated North Bias at time = 558.00 : -41.19 : AshtechGps::processRecord() - $GPGGA,201727.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 558.00 : -28.39 : Estimated Depth Bias at time = 558.00 : 0.78 : NMEA Update: $GPGGA,201726.41,3648.8950,N,-12158.6980,W,1,03,00.5,061.4,M,-99.9,M,,*42 : Estimated northing and easting = 4074785.95 : 591101.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=86.93 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201728.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201727.41,3648.8953,N,-12158.6990,W,1,03,00.5,061.0,M,-99.9,M,,*45 : TerrainNav update at nav time = 561.001569 : TerrainNav update at dvl time = 561.001569 : _navData-> (x,y) = (4074828.51, 591125.77) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=87.44 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201729.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201728.41,3648.8956,N,-12158.6999,W,1,03,00.5,061.2,M,-99.9,M,,*44 : Estimated North Bias at time = 561.00 : -42.01 : Estimated East Bias at time = 561.00 : -28.52 : Estimated Depth Bias at time = 561.00 : 0.78 : Estimated northing and easting = 4074786.51 : 591097.25 : AshtechGps::processRecord() - $GPGGA,201730.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201729.41,3648.8958,N,-12158.7009,W,1,03,00.5,060.9,M,-99.9,M,,*40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=87.97 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201731.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201730.41,3648.8961,N,-12158.7019,W,1,03,00.5,061.7,M,-99.9,M,,*4c : TerrainNav update at nav time = 564.001363 : TerrainNav update at dvl time = 564.001363 : _navData-> (x,y) = (4074829.88, 591121.33) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=88.52 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201732.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201731.41,3648.8963,N,-12158.7029,W,1,03,00.5,060.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201733.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201732.41,3648.8966,N,-12158.7039,W,1,03,00.5,061.7,M,-99.9,M,,*4b : Estimated North Bias at time = 564.00 : -43.16 : Estimated East Bias at time = 564.00 : -28.52 : Estimated Depth Bias at time = 564.00 : 0.78 : Estimated northing and easting = 4074786.72 : 591092.81 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=89.06 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201734.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201733.41,3648.8968,N,-12158.7049,W,1,03,00.5,060.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=89.59 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 567.001158 : TerrainNav update at dvl time = 567.001158 : _navData-> (x,y) = (4074831.29, 591116.88) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201735.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201734.41,3648.8971,N,-12158.7059,W,1,03,00.5,061.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=90.11 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : Estimated North Bias at time = 567.00 : -44.61 : Estimated East Bias at time = 567.00 : -28.79 : Estimated Depth Bias at time = 567.00 : 0.79 : Estimated northing and easting = 4074786.69 : 591088.10 : AshtechGps::processRecord() - $GPGGA,201736.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201735.41,3648.8974,N,-12158.7068,W,1,03,00.5,061.3,M,-99.9,M,,*4f : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201737.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201736.41,3648.8976,N,-12158.7078,W,1,03,00.5,061.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=90.61 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 570.000952 : TerrainNav update at dvl time = 570.000952 : _navData-> (x,y) = (4074832.68, 591112.65) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201738.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201737.41,3648.8979,N,-12158.7087,W,1,03,00.5,061.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=91.12 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201739.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 570.00 : -45.89 : NMEA Update: $GPGGA,201738.41,3648.8981,N,-12158.7097,W,1,03,00.5,061.4,M,-99.9,M,,*4f : Estimated East Bias at time = 570.00 : -28.98 : Estimated Depth Bias at time = 570.00 : 0.79 : Estimated northing and easting = 4074786.79 : 591083.67 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201740.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201739.41,3648.8984,N,-12158.7106,W,1,03,00.5,061.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=91.63 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 573.000747 : TerrainNav update at dvl time = 573.000747 : _navData-> (x,y) = (4074834.05, 591108.43) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201741.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201740.41,3648.8987,N,-12158.7116,W,1,03,00.5,061.7,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=92.15 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201742.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201741.41,3648.8989,N,-12158.7125,W,1,03,00.5,060.9,M,-99.9,M,,*4d : Estimated North Bias at time = 573.00 : -46.92 : Estimated East Bias at time = 573.00 : -28.96 : Estimated Depth Bias at time = 573.00 : 0.78 : Estimated northing and easting = 4074787.13 : 591079.47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=92.68 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201743.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201742.41,3648.8992,N,-12158.7135,W,1,03,00.5,061.1,M,-99.9,M,,*4c : TerrainNav update at nav time = 576.000541 : TerrainNav update at dvl time = 576.000541 : _navData-> (x,y) = (4074835.42, 591104.08) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201744.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201743.41,3648.8994,N,-12158.7145,W,1,03,00.5,061.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=93.21 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201745.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201744.41,3648.8997,N,-12158.7155,W,1,03,00.5,061.1,M,-99.9,M,,*49 : Estimated North Bias at time = 576.00 : -47.54 : Estimated East Bias at time = 576.00 : -28.76 : Estimated Depth Bias at time = 576.00 : 0.77 : Estimated northing and easting = 4074787.88 : 591075.32 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=93.73 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201746.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201745.41,3648.8999,N,-12158.7164,W,1,03,00.5,061.3,M,-99.9,M,,*46 : TerrainNav update at nav time = 579.000336 : TerrainNav update at dvl time = 579.000336 : _navData-> (x,y) = (4074836.74, 591099.69) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201747.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201746.41,3648.9002,N,-12158.7174,W,1,03,00.5,061.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=94.26 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : Estimated North Bias at time = 579.00 : -48.14 : AshtechGps::processRecord() - $GPGGA,201748.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 579.00 : -28.56 : NMEA Update: $GPGGA,201747.41,3648.9004,N,-12158.7184,W,1,03,00.5,060.9,M,-99.9,M,,*4d : Estimated Depth Bias at time = 579.00 : 0.75 : Estimated northing and easting = 4074788.61 : 591071.13 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=94.77 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201749.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201748.41,3648.9006,N,-12158.7193,W,1,03,00.5,061.1,M,-99.9,M,,*4f : TerrainNav update at nav time = 582.000130 : TerrainNav update at dvl time = 582.000130 : _navData-> (x,y) = (4074838.06, 591095.39) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=95.29 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201750.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201749.41,3648.9009,N,-12158.7203,W,1,03,00.5,061.7,M,-99.9,M,,*4d : Estimated North Bias at time = 582.00 : -48.01 : Estimated East Bias at time = 582.00 : -28.18 : Estimated Depth Bias at time = 582.00 : 0.72 : Estimated northing and easting = 4074790.05 : 591067.20 : AshtechGps::processRecord() - $GPGGA,201751.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201750.41,3648.9011,N,-12158.7213,W,1,03,00.5,060.4,M,-99.9,M,,*4f : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=95.81 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201752.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201751.41,3648.9014,N,-12158.7222,W,1,03,00.5,060.8,M,-99.9,M,,*45 : TerrainNav update at nav time = 584.999925 : TerrainNav update at dvl time = 584.999925 : _navData-> (x,y) = (4074839.42, 591091.06) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=96.34 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201753.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201752.41,3648.9017,N,-12158.7232,W,1,03,00.5,060.5,M,-99.9,M,,*49 : Estimated North Bias at time = 585.00 : -45.14 : Estimated East Bias at time = 585.00 : -27.10 : Estimated Depth Bias at time = 585.00 : 0.63 : Estimated northing and easting = 4074794.28 : 591063.96 : AshtechGps::processRecord() - $GPGGA,201754.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201753.41,3648.9019,N,-12158.7242,W,1,03,00.5,060.9,M,-99.9,M,,*4d : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=96.86 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201755.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201754.41,3648.9022,N,-12158.7252,W,1,03,00.5,061.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=97.38 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 587.999719 : TerrainNav update at dvl time = 587.999719 : _navData-> (x,y) = (4074840.77, 591086.72) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201756.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201755.41,3648.9024,N,-12158.7261,W,1,03,00.5,060.6,M,-99.9,M,,*4b : Estimated North Bias at time = 588.00 : -42.83 : Estimated East Bias at time = 588.00 : -26.37 : Estimated Depth Bias at time = 588.00 : 0.57 : Estimated northing and easting = 4074797.93 : 591060.34 : LayeredControl _resolvedCommand - vertMode=2 vert=97.89 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201757.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201756.41,3648.9026,N,-12158.7271,W,1,03,00.5,061.0,M,-99.9,M,,*4c : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201758.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201757.41,3648.9029,N,-12158.7280,W,1,03,00.5,060.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=98.40 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 590.999514 : TerrainNav update at dvl time = 590.999514 : _navData-> (x,y) = (4074841.99, 591082.45) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201759.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201758.41,3648.9031,N,-12158.7290,W,1,03,00.5,060.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=98.91 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201800.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201759.41,3648.9033,N,-12158.7299,W,1,03,00.5,060.4,M,-99.9,M,,*44 : Estimated North Bias at time = 591.00 : -43.40 : Estimated East Bias at time = 591.00 : -26.40 : Estimated Depth Bias at time = 591.00 : 0.55 : Estimated northing and easting = 4074798.59 : 591056.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201801.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201800.41,3648.9035,N,-12158.7309,W,1,03,00.5,060.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=99.43 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 593.999308 : TerrainNav update at dvl time = 593.999308 : _navData-> (x,y) = (4074843.19, 591078.15) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201802.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201801.41,3648.9038,N,-12158.7319,W,1,03,00.5,060.7,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=99.95 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : Estimated North Bias at time = 594.00 : -44.29 : Estimated East Bias at time = 594.00 : -26.44 : Estimated Depth Bias at time = 594.00 : 0.55 : Estimated northing and easting = 4074798.90 : 591051.71 : AshtechGps::processRecord() - $GPGGA,201803.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201802.41,3648.9040,N,-12158.7328,W,1,03,00.5,060.3,M,-99.9,M,,*4d : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=100.47 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201804.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201803.41,3648.9042,N,-12158.7338,W,1,03,00.5,060.1,M,-99.9,M,,*4d : TerrainNav update at nav time = 596.999103 : TerrainNav update at dvl time = 596.999103 : _navData-> (x,y) = (4074844.49, 591073.80) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201805.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201804.41,3648.9045,N,-12158.7348,W,1,03,00.5,060.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=100.99 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : Estimated North Bias at time = 597.00 : -45.46 : Estimated East Bias at time = 597.00 : -26.55 : Estimated Depth Bias at time = 597.00 : 0.55 : Estimated northing and easting = 4074799.03 : 591047.26 : AshtechGps::processRecord() - $GPGGA,201806.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201805.41,3648.9047,N,-12158.7357,W,1,03,00.5,059.7,M,-99.9,M,,*4b : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=101.50 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201807.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201806.41,3648.9050,N,-12158.7367,W,1,03,00.5,060.3,M,-99.9,M,,*43 : TerrainNav update at nav time = 599.998897 : TerrainNav update at dvl time = 599.998897 : _navData-> (x,y) = (4074845.78, 591069.52) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201808.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201807.41,3648.9052,N,-12158.7376,W,1,03,00.5,059.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=102.01 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : Estimated North Bias at time = 600.00 : -46.36 : Estimated East Bias at time = 600.00 : -26.71 : Estimated Depth Bias at time = 600.00 : 0.55 : Estimated northing and easting = 4074799.42 : 591042.81 : AshtechGps::processRecord() - $GPGGA,201809.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201808.41,3648.9054,N,-12158.7386,W,1,03,00.5,060.2,M,-99.9,M,,*47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=102.51 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201810.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201809.41,3648.9057,N,-12158.7395,W,1,03,00.5,059.4,M,-99.9,M,,*4b : TerrainNav update at nav time = 602.998692 : TerrainNav update at dvl time = 602.998692 : _navData-> (x,y) = (4074847.01, 591065.32) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=103.02 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201811.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201810.41,3648.9059,N,-12158.7405,W,1,03,00.5,059.4,M,-99.9,M,,*43 : Estimated North Bias at time = 603.00 : -47.27 : Estimated East Bias at time = 603.00 : -26.85 : Estimated Depth Bias at time = 603.00 : 0.55 : Estimated northing and easting = 4074799.74 : 591038.46 : AshtechGps::processRecord() - $GPGGA,201812.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201811.41,3648.9061,N,-12158.7414,W,1,03,00.5,060.1,M,-99.9,M,,*46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=103.52 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201813.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201812.41,3648.9064,N,-12158.7423,W,1,03,00.5,059.9,M,-99.9,M,,*46 : TerrainNav update at nav time = 605.998486 : TerrainNav update at dvl time = 605.998486 : _navData-> (x,y) = (4074848.30, 591061.10) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=104.03 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201814.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201813.41,3648.9066,N,-12158.7433,W,1,03,00.5,059.7,M,-99.9,M,,*4a : Estimated North Bias at time = 606.00 : -48.13 : Estimated East Bias at time = 606.00 : -26.97 : Estimated Depth Bias at time = 606.00 : 0.55 : Estimated northing and easting = 4074800.17 : 591034.13 : AshtechGps::processRecord() - $GPGGA,201815.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201814.41,3648.9069,N,-12158.7442,W,1,03,00.5,059.6,M,-99.9,M,,*45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=104.55 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201816.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201815.41,3648.9072,N,-12158.7452,W,1,03,00.5,059.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=105.07 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 608.998281 : TerrainNav update at dvl time = 608.998281 : _navData-> (x,y) = (4074849.71, 591056.81) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201817.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201816.41,3648.9074,N,-12158.7462,W,1,03,00.5,059.5,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=105.59 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : Estimated North Bias at time = 609.00 : -49.11 : Estimated East Bias at time = 609.00 : -27.11 : Estimated Depth Bias at time = 609.00 : 0.55 : Estimated northing and easting = 4074800.60 : 591029.70 : AshtechGps::processRecord() - $GPGGA,201818.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201817.41,3648.9077,N,-12158.7471,W,1,03,00.5,059.4,M,-99.9,M,,*4b : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201819.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201818.41,3648.9079,N,-12158.7481,W,1,03,00.5,059.4,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=106.11 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 611.998075 : TerrainNav update at dvl time = 611.998075 : _navData-> (x,y) = (4074851.10, 591052.50) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201820.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201819.41,3648.9082,N,-12158.7491,W,1,03,00.5,059.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=106.63 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : Estimated North Bias at time = 612.00 : -50.17 : Estimated East Bias at time = 612.00 : -27.26 : Estimated Depth Bias at time = 612.00 : 0.55 : Estimated northing and easting = 4074800.93 : 591025.24 : AshtechGps::processRecord() - $GPGGA,201821.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201820.41,3648.9084,N,-12158.7500,W,1,03,00.5,059.3,M,-99.9,M,,*43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201822.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201821.41,3648.9087,N,-12158.7510,W,1,03,00.5,059.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=107.15 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : TerrainNav update at nav time = 614.997870 : TerrainNav update at dvl time = 614.997870 : _navData-> (x,y) = (4074852.44, 591048.20) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201823.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201822.41,3648.9089,N,-12158.7519,W,1,03,00.5,058.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=107.67 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : Estimated North Bias at time = 615.00 : -51.22 : Estimated East Bias at time = 615.00 : -27.35 : Estimated Depth Bias at time = 615.00 : 0.55 : Estimated northing and easting = 4074801.23 : 591020.85 : AshtechGps::processRecord() - $GPGGA,201824.00,,,,,0,00,,,M,,M,,*45 : NMEA Update: $GPGGA,201823.41,3648.9092,N,-12158.7529,W,1,03,00.5,059.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=108.18 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201825.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201824.41,3648.9094,N,-12158.7538,W,1,03,00.5,058.7,M,-99.9,M,,*48 : TerrainNav update at nav time = 617.997664 : TerrainNav update at dvl time = 617.997664 : _navData-> (x,y) = (4074853.78, 591043.94) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201826.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201825.41,3648.9097,N,-12158.7548,W,1,03,00.5,059.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=108.69 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : Estimated North Bias at time = 618.00 : -52.24 : Estimated East Bias at time = 618.00 : -27.46 : Estimated Depth Bias at time = 618.00 : 0.55 : Estimated northing and easting = 4074801.54 : 591016.47 : AshtechGps::processRecord() - $GPGGA,201827.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201826.41,3648.9099,N,-12158.7557,W,1,03,00.5,058.7,M,-99.9,M,,*4e : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=109.21 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201828.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201827.41,3648.9102,N,-12158.7567,W,1,03,00.5,058.9,M,-99.9,M,,*41 : TerrainNav update at nav time = 620.997459 : TerrainNav update at dvl time = 620.997459 : _navData-> (x,y) = (4074855.13, 591039.67) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201829.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201828.41,3648.9104,N,-12158.7577,W,1,03,00.5,058.7,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=109.73 horzlMode=4 horz=5.02 speedMode=1 speed=1.50 : Estimated North Bias at time = 621.00 : -53.39 : Estimated East Bias at time = 621.00 : -27.50 : Estimated Depth Bias at time = 621.00 : 0.55 : Estimated northing and easting = 4074801.74 : 591012.17 : WaypointDepth has set the state to finished. : Waypoint (4074855.8, 591037.8), reached at t = 664.19 (wplog) : Vehicle Position error is (0.1, 0.1) : LayeredControl::execute() -- (t = 664.194499) Behavior waypoint_depth:-1 has changed to state Finished : WaypointDepth initialization: Begin waypoint control at t= 664.19 (wplog) The current location (N,E) = 4074855.8 , 591037.7 (wplog) The next waypoint = 4075185.4 , 590854.0 (wplog) The bearing to the next w.p. is 330.9 Degrees. The distance to the next w.p. is 377.4 Meters. The slope to the next w.p. is -0.1590. The initial commanded depth is 110.0 meters. The final commanded depth is 170.0 meters. : LayeredControl::execute() -- (t = 664.194499) Behavior waypoint_depth:-1 has changed to state Active : AshtechGps::processRecord() - $GPGGA,201830.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201829.41,3648.9107,N,-12158.7586,W,1,03,00.5,058.4,M,-99.9,M,,*48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.10 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201831.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201830.41,3648.9109,N,-12158.7596,W,1,03,00.5,058.3,M,-99.9,M,,*48 : TerrainNav update at nav time = 623.997253 : TerrainNav update at dvl time = 623.997253 : _navData-> (x,y) = (4074856.47, 591035.36) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.35 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201832.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201831.41,3648.9112,N,-12158.7605,W,1,03,00.5,058.1,M,-99.9,M,,*48 : Estimated North Bias at time = 624.00 : -54.47 : Estimated East Bias at time = 624.00 : -27.52 : Estimated Depth Bias at time = 624.00 : 0.55 : Estimated northing and easting = 4074802.00 : 591007.84 : AshtechGps::processRecord() - $GPGGA,201833.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201832.41,3648.9115,N,-12158.7615,W,1,03,00.5,058.5,M,-99.9,M,,*49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.60 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201834.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201833.41,3648.9118,N,-12158.7624,W,1,03,00.5,059.0,M,-99.9,M,,*43 : TerrainNav update at nav time = 626.997048 : TerrainNav update at dvl time = 626.997048 : _navData-> (x,y) = (4074858.17, 591031.16) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.88 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201835.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201834.41,3648.9122,N,-12158.7633,W,1,03,00.5,058.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201836.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201835.41,3648.9126,N,-12158.7642,W,1,03,00.5,061.1,M,-99.9,M,,*42 : Estimated North Bias at time = 627.00 : -55.61 : Estimated East Bias at time = 627.00 : -27.67 : Estimated Depth Bias at time = 627.00 : 0.55 : Estimated northing and easting = 4074802.56 : 591003.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=111.17 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201837.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201836.41,3648.9131,N,-12158.7649,W,1,03,00.5,061.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=111.46 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 629.996842 : TerrainNav update at dvl time = 629.996842 : _navData-> (x,y) = (4074860.68, 591027.58) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201838.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201837.41,3648.9136,N,-12158.7656,W,1,03,00.5,061.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=111.76 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201839.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201838.41,3648.9142,N,-12158.7662,W,1,03,00.5,062.8,M,-99.9,M,,*45 : Estimated North Bias at time = 630.00 : -56.86 : Estimated East Bias at time = 630.00 : -28.41 : Estimated Depth Bias at time = 630.00 : 0.55 : Estimated northing and easting = 4074803.82 : 590999.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201840.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201839.41,3648.9148,N,-12158.7668,W,1,03,00.5,063.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=112.05 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 632.996637 : TerrainNav update at dvl time = 632.996637 : _navData-> (x,y) = (4074863.81, 591025.08) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201841.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201840.41,3648.9154,N,-12158.7672,W,1,03,00.5,062.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=112.33 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201842.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201841.41,3648.9160,N,-12158.7675,W,1,03,00.5,064.3,M,-99.9,M,,*40 : Estimated North Bias at time = 633.00 : -57.80 : Estimated East Bias at time = 633.00 : -29.55 : Estimated Depth Bias at time = 633.00 : 0.55 : Estimated northing and easting = 4074806.02 : 590995.53 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201843.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201842.41,3648.9166,N,-12158.7678,W,1,03,00.5,063.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=112.59 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 635.996431 : TerrainNav update at dvl time = 635.996431 : _navData-> (x,y) = (4074867.16, 591023.77) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201844.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201843.41,3648.9172,N,-12158.7680,W,1,03,00.5,063.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=112.83 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : Estimated North Bias at time = 636.00 : -58.42 : Estimated East Bias at time = 636.00 : -30.75 : Estimated Depth Bias at time = 636.00 : 0.55 : Estimated northing and easting = 4074808.74 : 590993.01 : AshtechGps::processRecord() - $GPGGA,201845.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201844.41,3648.9178,N,-12158.7681,W,1,03,00.5,063.1,M,-99.9,M,,*42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=113.07 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201846.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201845.41,3648.9184,N,-12158.7681,W,1,03,00.5,063.4,M,-99.9,M,,*45 : TerrainNav update at nav time = 638.996226 : TerrainNav update at dvl time = 638.996226 : _navData-> (x,y) = (4074870.61, 591023.28) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201847.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201846.41,3648.9191,N,-12158.7682,W,1,03,00.5,063.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=113.31 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201848.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201847.41,3648.9197,N,-12158.7682,W,1,03,00.5,063.3,M,-99.9,M,,*41 : Estimated North Bias at time = 639.00 : -58.52 : Estimated East Bias at time = 639.00 : -31.42 : Estimated Depth Bias at time = 639.00 : 0.55 : Estimated northing and easting = 4074812.09 : 590991.86 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=113.56 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201849.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201848.41,3648.9204,N,-12158.7683,W,1,03,00.5,062.5,M,-99.9,M,,*41 : TerrainNav update at nav time = 641.996020 : TerrainNav update at dvl time = 641.996020 : _navData-> (x,y) = (4074874.26, 591023.04) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201850.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201849.40,3648.9211,N,-12158.7683,W,1,03,00.5,061.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=113.81 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201851.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201850.40,3648.9218,N,-12158.7684,W,1,03,00.5,061.6,M,-99.9,M,,*43 : Estimated North Bias at time = 642.00 : -58.83 : Estimated East Bias at time = 642.00 : -31.63 : Estimated Depth Bias at time = 642.00 : 0.56 : Estimated northing and easting = 4074815.43 : 590991.41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=114.08 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201852.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201851.40,3648.9225,N,-12158.7685,W,1,03,00.5,061.0,M,-99.9,M,,*4b : TerrainNav update at nav time = 644.995815 : TerrainNav update at dvl time = 644.995815 : _navData-> (x,y) = (4074878.14, 591022.56) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=114.36 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201853.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201852.40,3648.9232,N,-12158.7687,W,1,03,00.5,059.6,M,-99.9,M,,*41 : Estimated North Bias at time = 645.00 : -59.10 : Estimated East Bias at time = 645.00 : -31.49 : Estimated Depth Bias at time = 645.00 : 0.56 : Estimated northing and easting = 4074819.04 : 590991.07 : AshtechGps::processRecord() - $GPGGA,201854.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201853.40,3648.9239,N,-12158.7688,W,1,03,00.5,058.9,M,-99.9,M,,*4a : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=114.64 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201855.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201854.40,3648.9246,N,-12158.7690,W,1,03,00.5,057.3,M,-99.9,M,,*49 : TerrainNav update at nav time = 647.995609 : TerrainNav update at dvl time = 647.995609 : _navData-> (x,y) = (4074882.11, 591021.74) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=114.93 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201856.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201855.40,3648.9253,N,-12158.7692,W,1,03,00.5,057.7,M,-99.9,M,,*4a : Estimated North Bias at time = 648.00 : -59.65 : Estimated East Bias at time = 648.00 : -31.52 : Estimated Depth Bias at time = 648.00 : 0.56 : Estimated northing and easting = 4074822.46 : 590990.22 : AshtechGps::processRecord() - $GPGGA,201857.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201856.40,3648.9260,N,-12158.7694,W,1,03,00.5,057.5,M,-99.9,M,,*4d : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=115.23 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201858.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201857.40,3648.9267,N,-12158.7697,W,1,03,00.5,057.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=115.52 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 650.995404 : TerrainNav update at dvl time = 650.995404 : _navData-> (x,y) = (4074886.03, 591020.66) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201859.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201858.40,3648.9274,N,-12158.7699,W,1,03,00.5,057.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=115.82 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201900.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201859.40,3648.9282,N,-12158.7702,W,1,03,00.5,056.4,M,-99.9,M,,*40 : Estimated North Bias at time = 651.00 : -59.91 : Estimated East Bias at time = 651.00 : -31.58 : Estimated Depth Bias at time = 651.00 : 0.56 : Estimated northing and easting = 4074826.12 : 590989.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201901.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201900.40,3648.9289,N,-12158.7705,W,1,03,00.5,054.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=116.12 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 653.995198 : TerrainNav update at dvl time = 653.995198 : _navData-> (x,y) = (4074889.93, 591019.30) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201902.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201901.40,3648.9296,N,-12158.7709,W,1,03,00.5,054.6,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=116.43 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : Estimated North Bias at time = 654.00 : -60.23 : Estimated East Bias at time = 654.00 : -31.73 : Estimated Depth Bias at time = 654.00 : 0.57 : Estimated northing and easting = 4074829.70 : 590987.57 : AshtechGps::processRecord() - $GPGGA,201903.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201902.40,3648.9303,N,-12158.7712,W,1,03,00.5,055.4,M,-99.9,M,,*45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201904.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201903.40,3648.9310,N,-12158.7716,W,1,03,00.5,054.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=116.75 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 656.994993 : TerrainNav update at dvl time = 656.994993 : _navData-> (x,y) = (4074893.78, 591017.54) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201904.40,3648.9317,N,-12158.7721,W,1,03,00.5,055.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201905.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=117.07 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201906.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201905.40,3648.9324,N,-12158.7725,W,1,03,00.5,055.7,M,-99.9,M,,*40 : Estimated North Bias at time = 656.99 : -60.72 : Estimated East Bias at time = 656.99 : -32.03 : Estimated Depth Bias at time = 656.99 : 0.57 : Estimated northing and easting = 4074833.06 : 590985.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=117.39 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201907.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201906.40,3648.9331,N,-12158.7729,W,1,03,00.5,055.4,M,-99.9,M,,*48 : TerrainNav update at nav time = 659.994787 : TerrainNav update at dvl time = 659.994787 : _navData-> (x,y) = (4074897.65, 591015.48) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201908.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201907.40,3648.9338,N,-12158.7734,W,1,03,00.5,055.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=117.72 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : stat is 92342 : got a SAN packet : time:73205.937500 : lat:36.8149 lon:-121.9800 : slant range: 1.00 : SNR:13.100000 AGC:73 : NMEA Update: $GPGGA,201908.40,3648.9344,N,-12158.7739,W,1,03,00.5,055.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201909.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Navigation: SAN - New position is lat 36.81493 lon -121.98001 decimal degrees Navigation: SAN - t = 1269980348.43, depth = 116.15 meters Navigation: SAN - Offset is 81.76 meters : Estimated North Bias at time = 659.99 : -61.45 : Estimated East Bias at time = 659.99 : -32.61 : Estimated Depth Bias at time = 659.99 : 0.57 : Estimated northing and easting = 4074836.20 : 590982.87 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201910.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201909.40,3648.8965,N,-12158.8011,W,1,03,00.5,056.8,M,-99.9,M,,*41 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : TerrainNav update at nav time = 662.994582 : TerrainNav update at dvl time = 662.994582 : _navData-> (x,y) = (4074829.57, 590974.28) : _tercom->outstandingMeas() = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201911.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201910.40,3648.8972,N,-12158.8016,W,1,03,00.5,056.1,M,-99.9,M,,*41 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201912.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201911.40,3648.8979,N,-12158.8021,W,1,03,00.5,056.8,M,-99.9,M,,*46 : Estimated North Bias at time = 662.99 : 9.68 : Estimated East Bias at time = 662.99 : 5.76 : Estimated Depth Bias at time = 662.99 : 0.58 : Estimated northing and easting = 4074839.25 : 590980.03 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201913.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201912.41,3648.8986,N,-12158.8025,W,1,03,00.5,057.3,M,-99.9,M,,*4a : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : TerrainNav update at nav time = 665.994376 : TerrainNav update at dvl time = 665.994376 : _navData-> (x,y) = (4074833.45, 590972.33) : _tercom->outstandingMeas() = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201914.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201913.41,3648.8993,N,-12158.8029,W,1,03,00.5,058.3,M,-99.9,M,,*4c : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201915.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 665.99 : 8.51 : NMEA Update: $GPGGA,201914.41,3648.9000,N,-12158.8032,W,1,03,00.5,058.8,M,-99.9,M,,*48 : Estimated East Bias at time = 665.99 : 4.62 : Estimated Depth Bias at time = 665.99 : 0.58 : Estimated northing and easting = 4074841.96 : 590976.95 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201916.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201915.41,3648.9008,N,-12158.8035,W,1,03,00.5,059.2,M,-99.9,M,,*4d : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : TerrainNav update at nav time = 668.994171 : TerrainNav update at dvl time = 668.994171 : _navData-> (x,y) = (4074837.55, 590971.00) : _tercom->outstandingMeas() = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201917.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201916.41,3648.9015,N,-12158.8037,W,1,03,00.5,058.2,M,-99.9,M,,*41 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : Estimated North Bias at time = 668.99 : 7.50 : Estimated East Bias at time = 668.99 : 3.25 : Estimated Depth Bias at time = 668.99 : 0.58 : Estimated northing and easting = 4074845.05 : 590974.25 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201918.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201917.41,3648.9023,N,-12158.8038,W,1,03,00.5,059.5,M,-99.9,M,,*4c : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201919.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201918.41,3648.9030,N,-12158.8039,W,1,03,00.5,058.4,M,-99.9,M,,*40 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 671.993965 : TerrainNav update at dvl time = 671.993965 : _navData-> (x,y) = (4074841.52, 590970.58) : _tercom->outstandingMeas() = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201920.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201919.41,3648.9037,N,-12158.8038,W,1,03,00.5,058.8,M,-99.9,M,,*4b : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201921.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201920.41,3648.9043,N,-12158.8037,W,1,03,00.5,057.5,M,-99.9,M,,*4f : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : Estimated North Bias at time = 671.99 : 6.61 : Estimated East Bias at time = 671.99 : 1.44 : Estimated Depth Bias at time = 671.99 : 0.59 : Estimated northing and easting = 4074848.13 : 590972.01 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201922.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201921.41,3648.9049,N,-12158.8035,W,1,03,00.5,057.1,M,-99.9,M,,*42 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : TerrainNav update at nav time = 674.993760 : TerrainNav update at dvl time = 674.993760 : _navData-> (x,y) = (4074844.91, 590971.20) : _tercom->outstandingMeas() = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201923.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201922.41,3648.9054,N,-12158.8033,W,1,03,00.5,056.6,M,-99.9,M,,*4d : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201924.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201923.41,3648.9059,N,-12158.8029,W,1,03,00.5,056.6,M,-99.9,M,,*4a : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : Estimated North Bias at time = 674.99 : 6.55 : Estimated East Bias at time = 674.99 : -0.05 : Estimated Depth Bias at time = 674.99 : 0.59 : Estimated northing and easting = 4074851.46 : 590971.15 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201925.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201924.41,3648.9064,N,-12158.8025,W,1,03,00.5,055.6,M,-99.9,M,,*4c : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : TerrainNav update at nav time = 677.993554 : TerrainNav update at dvl time = 677.993554 : _navData-> (x,y) = (4074847.50, 590972.99) : _tercom->outstandingMeas() = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : stat is 92342 : got a SAN packet : time:73223.343750 : lat:36.8148 lon:-121.9804 : slant range: 1.00 : SNR:13.400000 AGC:78 : AshtechGps::processRecord() - $GPGGA,201926.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201925.41,3648.9068,N,-12158.8020,W,1,03,00.5,055.3,M,-99.9,M,,*41 : Navigation: SAN - New position is lat 36.81479 lon -121.98038 decimal degrees Navigation: SAN - t = 1269980365.43, depth = 116.30 meters Navigation: SAN - Offset is 47.27 meters : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201927.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201926.41,3648.8877,N,-12158.8221,W,1,03,00.5,055.4,M,-99.9,M,,*41 : Estimated North Bias at time = 677.99 : 6.88 : Estimated East Bias at time = 677.99 : -1.34 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : Estimated Depth Bias at time = 677.99 : 0.59 : Estimated northing and easting = 4074854.39 : 590971.65 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201928.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201927.41,3648.8880,N,-12158.8215,W,1,03,00.5,053.4,M,-99.9,M,,*49 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : TerrainNav update at nav time = 680.993349 : TerrainNav update at dvl time = 680.993349 : _navData-> (x,y) = (4074813.26, 590945.22) : _tercom->outstandingMeas() = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201929.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201928.41,3648.8884,N,-12158.8208,W,1,03,00.5,053.2,M,-99.9,M,,*48 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201930.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201929.41,3648.8887,N,-12158.8202,W,1,03,00.5,053.2,M,-99.9,M,,*40 : Estimated North Bias at time = 680.99 : 43.57 : Estimated East Bias at time = 680.99 : 28.30 : Estimated Depth Bias at time = 680.99 : 0.58 : Estimated northing and easting = 4074856.83 : 590973.52 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201931.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201930.41,3648.8890,N,-12158.8195,W,1,03,00.5,053.3,M,-99.9,M,,*42 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : TerrainNav update at nav time = 683.993143 : TerrainNav update at dvl time = 683.993143 : _navData-> (x,y) = (4074815.10, 590948.11) : _tercom->outstandingMeas() = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201932.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201931.41,3648.8894,N,-12158.8189,W,1,03,00.5,053.7,M,-99.9,M,,*4e : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201933.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201932.41,3648.8897,N,-12158.8182,W,1,03,00.5,054.5,M,-99.9,M,,*40 : Estimated North Bias at time = 683.99 : 43.72 : Estimated East Bias at time = 683.99 : 27.99 : Estimated Depth Bias at time = 683.99 : 0.58 : Estimated northing and easting = 4074858.81 : 590976.10 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201934.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201933.41,3648.8900,N,-12158.8175,W,1,03,00.5,055.3,M,-99.9,M,,*41 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : TerrainNav update at nav time = 686.992938 : TerrainNav update at dvl time = 686.992938 : _navData-> (x,y) = (4074817.02, 590951.14) : _tercom->outstandingMeas() = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201935.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201934.41,3648.8904,N,-12158.8168,W,1,03,00.5,056.7,M,-99.9,M,,*49 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201936.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201935.41,3648.8908,N,-12158.8161,W,1,03,00.5,057.4,M,-99.9,M,,*4f : Estimated North Bias at time = 686.99 : 43.69 : Estimated East Bias at time = 686.99 : 28.00 : Estimated Depth Bias at time = 686.99 : 0.59 : Estimated northing and easting = 4074860.71 : 590979.14 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201937.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201936.41,3648.8911,N,-12158.8154,W,1,03,00.5,057.6,M,-99.9,M,,*40 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : TerrainNav update at nav time = 690.002732 : TerrainNav update at dvl time = 690.002732 : _navData-> (x,y) = (4074819.15, 590954.36) : _tercom->outstandingMeas() = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201938.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201937.41,3648.8915,N,-12158.8146,W,1,03,00.5,057.7,M,-99.9,M,,*47 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : Estimated North Bias at time = 690.00 : 43.68 : Estimated East Bias at time = 690.00 : 27.91 : Estimated Depth Bias at time = 690.00 : 0.58 : Estimated northing and easting = 4074862.83 : 590982.27 : AshtechGps::processRecord() - $GPGGA,201939.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201938.41,3648.8919,N,-12158.8138,W,1,03,00.5,059.0,M,-99.9,M,,*44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201940.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201939.41,3648.8924,N,-12158.8130,W,1,03,00.5,059.8,M,-99.9,M,,*4b : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 693.002526 : TerrainNav update at dvl time = 693.002526 : _navData-> (x,y) = (4074821.47, 590957.92) : _tercom->outstandingMeas() = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201941.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201940.41,3648.8928,N,-12158.8122,W,1,03,00.5,059.8,M,-99.9,M,,*4a : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : Estimated North Bias at time = 693.00 : 43.64 : Estimated East Bias at time = 693.00 : 27.74 : Estimated Depth Bias at time = 693.00 : 0.58 : Estimated northing and easting = 4074865.11 : 590985.66 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201942.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201941.41,3648.8932,N,-12158.8113,W,1,03,00.5,060.5,M,-99.9,M,,*45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201943.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201942.41,3648.8936,N,-12158.8104,W,1,03,00.5,060.2,M,-99.9,M,,*43 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : TerrainNav update at nav time = 696.002321 : TerrainNav update at dvl time = 696.002321 : _navData-> (x,y) = (4074823.90, 590961.74) : _tercom->outstandingMeas() = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201944.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201943.41,3648.8941,N,-12158.8096,W,1,03,00.5,060.5,M,-99.9,M,,*4f : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : Estimated North Bias at time = 696.00 : 43.81 : Estimated East Bias at time = 696.00 : 27.73 : Estimated Depth Bias at time = 696.00 : 0.58 : Estimated northing and easting = 4074867.71 : 590989.47 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201945.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201944.41,3648.8945,N,-12158.8087,W,1,03,00.5,060.7,M,-99.9,M,,*4e : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201946.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201945.41,3648.8950,N,-12158.8078,W,1,03,00.5,060.9,M,-99.9,M,,*45 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : TerrainNav update at nav time = 699.002115 : TerrainNav update at dvl time = 699.002115 : _navData-> (x,y) = (4074826.37, 590965.53) : _tercom->outstandingMeas() = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201947.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201946.41,3648.8954,N,-12158.8070,W,1,03,00.5,061.1,M,-99.9,M,,*43 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : Estimated North Bias at time = 699.00 : 44.13 : Estimated East Bias at time = 699.00 : 27.56 : Estimated Depth Bias at time = 699.00 : 0.58 : Estimated northing and easting = 4074870.50 : 590993.09 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201948.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201947.41,3648.8958,N,-12158.8062,W,1,03,00.5,060.3,M,-99.9,M,,*4e : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201949.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201948.41,3648.8963,N,-12158.8054,W,1,03,00.5,060.6,M,-99.9,M,,*49 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : TerrainNav update at nav time = 702.001909 : TerrainNav update at dvl time = 702.001909 : _navData-> (x,y) = (4074828.83, 590969.11) : _tercom->outstandingMeas() = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,201950.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201949.41,3648.8967,N,-12158.8046,W,1,03,00.5,059.9,M,-99.9,M,,*4a : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : Estimated North Bias at time = 702.00 : 44.52 : Estimated East Bias at time = 702.00 : 27.49 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : Estimated Depth Bias at time = 702.00 : 0.57 : Estimated northing and easting = 4074873.35 : 590996.60 : stat is 92342 : got a SAN packet : time:73248.484375 : lat:36.8152 lon:-121.9800 : slant range: 1.00 : SNR:10.800000 AGC:68 : AshtechGps::processRecord() - $GPGGA,201951.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201950.41,3648.8971,N,-12158.8038,W,1,03,00.5,059.7,M,-99.9,M,,*42 : Navigation: SAN - New position is lat 36.81521 lon -121.97998 decimal degrees Navigation: SAN - t = 1269980390.44, depth = 109.33 meters Navigation: SAN - Offset is 29.77 meters : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201952.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201951.41,3648.9132,N,-12158.7980,W,1,03,00.5,059.6,M,-99.9,M,,*49 : TerrainNav update at nav time = 705.001704 : TerrainNav update at dvl time = 705.001704 : _navData-> (x,y) = (4074860.19, 590979.70) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201953.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201952.41,3648.9136,N,-12158.7973,W,1,03,00.5,059.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : Estimated North Bias at time = 705.00 : 15.99 : Estimated East Bias at time = 705.00 : 20.19 : Estimated Depth Bias at time = 705.00 : 0.57 : Estimated northing and easting = 4074876.18 : 590999.90 : AshtechGps::processRecord() - $GPGGA,201954.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201953.41,3648.9140,N,-12158.7964,W,1,03,00.5,059.5,M,-99.9,M,,*47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201955.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201954.41,3648.9145,N,-12158.7956,W,1,03,00.5,058.8,M,-99.9,M,,*48 : TerrainNav update at nav time = 708.001499 : TerrainNav update at dvl time = 708.001499 : _navData-> (x,y) = (4074862.67, 590983.34) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201956.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201955.41,3648.9149,N,-12158.7948,W,1,03,00.5,059.1,M,-99.9,M,,*42 : Estimated North Bias at time = 708.00 : 16.27 : Estimated East Bias at time = 708.00 : 19.73 : Estimated Depth Bias at time = 708.00 : 0.57 : Estimated northing and easting = 4074878.93 : 591003.07 : AshtechGps::processRecord() - $GPGGA,201957.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201956.41,3648.9154,N,-12158.7939,W,1,03,00.5,059.0,M,-99.9,M,,*4a : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201958.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201957.41,3648.9158,N,-12158.7930,W,1,03,00.5,058.0,M,-99.9,M,,*4f : TerrainNav update at nav time = 711.001293 : TerrainNav update at dvl time = 711.001293 : _navData-> (x,y) = (4074865.18, 590987.17) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,201959.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201958.41,3648.9163,N,-12158.7922,W,1,03,00.5,058.5,M,-99.9,M,,*4e : Estimated North Bias at time = 711.00 : 16.62 : Estimated East Bias at time = 711.00 : 19.17 : Estimated Depth Bias at time = 711.00 : 0.57 : Estimated northing and easting = 4074881.81 : 591006.35 : AshtechGps::processRecord() - $GPGGA,202000.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201959.41,3648.9167,N,-12158.7913,W,1,03,00.5,057.7,M,-99.9,M,,*44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202001.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202000.41,3648.9172,N,-12158.7904,W,1,03,00.5,057.8,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 714.001088 : TerrainNav update at dvl time = 714.001088 : _navData-> (x,y) = (4074867.71, 590991.03) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202002.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202001.41,3648.9176,N,-12158.7896,W,1,03,00.5,057.2,M,-99.9,M,,*4a : Estimated North Bias at time = 714.00 : 17.02 : Estimated East Bias at time = 714.00 : 18.93 : Estimated Depth Bias at time = 714.00 : 0.57 : Estimated northing and easting = 4074884.74 : 591009.96 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202003.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202002.41,3648.9181,N,-12158.7887,W,1,03,00.5,057.5,M,-99.9,M,,*46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202004.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202003.41,3648.9185,N,-12158.7879,W,1,03,00.5,056.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 717.000882 : TerrainNav update at dvl time = 717.000882 : _navData-> (x,y) = (4074870.21, 590994.71) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202005.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202004.41,3648.9189,N,-12158.7871,W,1,03,00.5,055.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : Estimated North Bias at time = 717.00 : 17.29 : Estimated East Bias at time = 717.00 : 19.04 : Estimated Depth Bias at time = 717.00 : 0.57 : Estimated northing and easting = 4074887.50 : 591013.75 : AshtechGps::processRecord() - $GPGGA,202006.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202005.41,3648.9194,N,-12158.7863,W,1,03,00.5,055.5,M,-99.9,M,,*4d : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202007.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202006.41,3648.9198,N,-12158.7855,W,1,03,00.5,055.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 720.000677 : TerrainNav update at dvl time = 720.000677 : _navData-> (x,y) = (4074872.75, 590998.24) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202008.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202007.41,3648.9203,N,-12158.7847,W,1,03,00.5,052.3,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : Estimated North Bias at time = 720.00 : 17.47 : Estimated East Bias at time = 720.00 : 18.98 : Estimated Depth Bias at time = 720.00 : 0.57 : Estimated northing and easting = 4074890.22 : 591017.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202009.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202008.41,3648.9208,N,-12158.7839,W,1,03,00.5,051.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202010.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202009.41,3648.9213,N,-12158.7832,W,1,03,00.5,052.0,M,-99.9,M,,*4b : TerrainNav update at nav time = 723.000471 : TerrainNav update at dvl time = 723.000471 : _navData-> (x,y) = (4074875.65, 591001.52) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202011.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202010.41,3648.9219,N,-12158.7825,W,1,03,00.5,053.8,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202012.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202011.41,3648.9225,N,-12158.7819,W,1,03,00.5,054.2,M,-99.9,M,,*4a : Estimated North Bias at time = 723.00 : 17.28 : Estimated East Bias at time = 723.00 : 19.49 : Estimated Depth Bias at time = 723.00 : 0.56 : Estimated northing and easting = 4074892.93 : 591021.01 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202013.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202012.41,3648.9231,N,-12158.7812,W,1,03,00.5,052.3,M,-99.9,M,,*40 : TerrainNav update at nav time = 726.000266 : TerrainNav update at dvl time = 726.000266 : _navData-> (x,y) = (4074879.09, 591004.33) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202014.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202013.41,3648.9238,N,-12158.7806,W,1,03,00.5,053.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : Estimated North Bias at time = 726.00 : 16.70 : Estimated East Bias at time = 726.00 : 19.97 : Estimated Depth Bias at time = 726.00 : 0.56 : Estimated northing and easting = 4074895.79 : 591024.30 : AshtechGps::processRecord() - $GPGGA,202015.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202014.41,3648.9244,N,-12158.7801,W,1,03,00.5,052.3,M,-99.9,M,,*46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202016.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202015.41,3648.9251,N,-12158.7796,W,1,03,00.5,051.6,M,-99.9,M,,*44 : TerrainNav update at nav time = 729.000060 : TerrainNav update at dvl time = 729.000060 : _navData-> (x,y) = (4074882.90, 591006.54) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202017.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202016.41,3648.9258,N,-12158.7792,W,1,03,00.5,052.8,M,-99.9,M,,*47 : Estimated North Bias at time = 729.00 : 16.45 : Estimated East Bias at time = 729.00 : 20.22 : Estimated Depth Bias at time = 729.00 : 0.56 : Estimated northing and easting = 4074899.35 : 591026.76 : AshtechGps::processRecord() - $GPGGA,202018.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202017.41,3648.9266,N,-12158.7788,W,1,03,00.5,051.4,M,-99.9,M,,*4f : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202019.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202018.41,3648.9273,N,-12158.7785,W,1,03,00.5,052.1,M,-99.9,M,,*4f : TerrainNav update at nav time = 731.999855 : TerrainNav update at dvl time = 731.999855 : _navData-> (x,y) = (4074886.94, 591007.95) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202020.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202019.41,3648.9280,N,-12158.7783,W,1,03,00.5,051.8,M,-99.9,M,,*4e : Estimated North Bias at time = 732.00 : 15.68 : Estimated East Bias at time = 732.00 : 21.38 : Estimated Depth Bias at time = 732.00 : 0.56 : Estimated northing and easting = 4074902.62 : 591029.33 : AshtechGps::processRecord() - $GPGGA,202021.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202020.41,3648.9288,N,-12158.7781,W,1,03,00.5,051.4,M,-99.9,M,,*42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202022.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202021.41,3648.9295,N,-12158.7780,W,1,03,00.5,051.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 734.999649 : TerrainNav update at dvl time = 734.999649 : _navData-> (x,y) = (4074891.09, 591008.53) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202023.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202022.41,3648.9303,N,-12158.7779,W,1,03,00.5,050.8,M,-99.9,M,,*48 : Estimated North Bias at time = 735.00 : 15.15 : Estimated East Bias at time = 735.00 : 22.47 : Estimated Depth Bias at time = 735.00 : 0.55 : Estimated northing and easting = 4074906.23 : 591031.01 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202024.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202023.41,3648.9310,N,-12158.7779,W,1,03,00.5,051.2,M,-99.9,M,,*40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202025.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202024.41,3648.9318,N,-12158.7779,W,1,03,00.5,051.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 737.999444 : TerrainNav update at dvl time = 737.999444 : _navData-> (x,y) = (4074895.28, 591008.54) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202026.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202025.41,3648.9325,N,-12158.7779,W,1,03,00.5,051.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : Estimated North Bias at time = 738.00 : 15.04 : Estimated East Bias at time = 738.00 : 22.65 : Estimated Depth Bias at time = 738.00 : 0.55 : Estimated northing and easting = 4074910.32 : 591031.19 : AshtechGps::processRecord() - $GPGGA,202027.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202026.41,3648.9333,N,-12158.7780,W,1,03,00.5,051.7,M,-99.9,M,,*47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202028.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202027.41,3648.9341,N,-12158.7781,W,1,03,00.5,051.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 740.999238 : TerrainNav update at dvl time = 740.999238 : _navData-> (x,y) = (4074899.51, 591008.11) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202029.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202028.41,3648.9348,N,-12158.7782,W,1,03,00.5,051.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : Estimated North Bias at time = 741.00 : 14.77 : Estimated East Bias at time = 741.00 : 22.96 : Estimated Depth Bias at time = 741.00 : 0.55 : Estimated northing and easting = 4074914.28 : 591031.07 : AshtechGps::processRecord() - $GPGGA,202030.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202029.41,3648.9356,N,-12158.7784,W,1,03,00.5,052.4,M,-99.9,M,,*4f : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202031.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202030.41,3648.9364,N,-12158.7785,W,1,03,00.5,051.7,M,-99.9,M,,*47 : TerrainNav update at nav time = 743.999032 : TerrainNav update at dvl time = 743.999032 : _navData-> (x,y) = (4074903.80, 591007.37) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202032.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202031.41,3648.9372,N,-12158.7787,W,1,03,00.5,051.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : Estimated North Bias at time = 744.00 : 14.53 : Estimated East Bias at time = 744.00 : 23.13 : Estimated Depth Bias at time = 744.00 : 0.55 : Estimated northing and easting = 4074918.33 : 591030.50 : AshtechGps::processRecord() - $GPGGA,202033.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202032.41,3648.9379,N,-12158.7789,W,1,03,00.5,051.3,M,-99.9,M,,*41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202034.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202033.41,3648.9387,N,-12158.7791,W,1,03,00.5,051.8,M,-99.9,M,,*43 : TerrainNav update at nav time = 746.998827 : TerrainNav update at dvl time = 746.998827 : _navData-> (x,y) = (4074908.11, 591006.44) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202035.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202034.41,3648.9395,N,-12158.7793,W,1,03,00.5,052.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : Estimated North Bias at time = 747.00 : 14.34 : Estimated East Bias at time = 747.00 : 23.19 : Estimated Depth Bias at time = 747.00 : 0.55 : Estimated northing and easting = 4074922.46 : 591029.63 : AshtechGps::processRecord() - $GPGGA,202036.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202035.41,3648.9403,N,-12158.7796,W,1,03,00.5,051.7,M,-99.9,M,,*46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202037.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202036.41,3648.9411,N,-12158.7798,W,1,03,00.5,052.9,M,-99.9,M,,*45 : TerrainNav update at nav time = 749.998622 : TerrainNav update at dvl time = 749.998622 : _navData-> (x,y) = (4074912.43, 591005.30) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202038.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202037.41,3648.9418,N,-12158.7801,W,1,03,00.5,052.6,M,-99.9,M,,*4d : Estimated North Bias at time = 750.00 : 14.22 : Estimated East Bias at time = 750.00 : 23.15 : Estimated Depth Bias at time = 750.00 : 0.55 : Estimated northing and easting = 4074926.65 : 591028.45 : AshtechGps::processRecord() - $GPGGA,202039.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202038.41,3648.9426,N,-12158.7804,W,1,03,00.5,053.1,M,-99.9,M,,*4c : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202040.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202039.41,3648.9434,N,-12158.7807,W,1,03,00.5,053.2,M,-99.9,M,,*4e : TerrainNav update at nav time = 752.998416 : TerrainNav update at dvl time = 752.998416 : _navData-> (x,y) = (4074916.70, 591003.85) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202041.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202040.41,3648.9442,N,-12158.7811,W,1,03,00.5,052.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202042.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202041.41,3648.9449,N,-12158.7814,W,1,03,00.5,053.6,M,-99.9,M,,*4d : Estimated North Bias at time = 753.00 : 14.18 : Estimated East Bias at time = 753.00 : 23.12 : Estimated Depth Bias at time = 753.00 : 0.55 : Estimated northing and easting = 4074930.88 : 591026.97 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202043.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202042.41,3648.9457,N,-12158.7818,W,1,03,00.5,053.5,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 755.998211 : TerrainNav update at dvl time = 755.998211 : _navData-> (x,y) = (4074920.91, 591002.06) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202044.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202043.41,3648.9464,N,-12158.7823,W,1,03,00.5,054.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202045.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202044.41,3648.9472,N,-12158.7827,W,1,03,00.5,054.4,M,-99.9,M,,*45 : Estimated North Bias at time = 756.00 : 14.33 : Estimated East Bias at time = 756.00 : 22.15 : Estimated Depth Bias at time = 756.00 : 0.55 : Estimated northing and easting = 4074935.25 : 591024.21 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202046.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202045.41,3648.9480,N,-12158.7832,W,1,03,00.5,054.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 758.998005 : TerrainNav update at dvl time = 758.998005 : _navData-> (x,y) = (4074925.11, 591000.02) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202047.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202046.41,3648.9487,N,-12158.7836,W,1,03,00.5,054.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202048.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202047.41,3648.9495,N,-12158.7841,W,1,03,00.5,054.9,M,-99.9,M,,*42 : Estimated North Bias at time = 759.00 : 14.22 : Estimated East Bias at time = 759.00 : 21.48 : Estimated Depth Bias at time = 759.00 : 0.55 : Estimated northing and easting = 4074939.33 : 591021.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202049.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202048.41,3648.9502,N,-12158.7846,W,1,03,00.5,054.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 761.997800 : TerrainNav update at dvl time = 761.997800 : _navData-> (x,y) = (4074929.30, 590997.87) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202050.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202049.41,3648.9510,N,-12158.7850,W,1,03,00.5,055.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202051.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202050.41,3648.9518,N,-12158.7855,W,1,03,00.5,056.1,M,-99.9,M,,*4f : Estimated North Bias at time = 762.00 : 14.04 : Estimated East Bias at time = 762.00 : 20.64 : Estimated Depth Bias at time = 762.00 : 0.55 : Estimated northing and easting = 4074943.34 : 591018.52 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202052.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202051.41,3648.9525,N,-12158.7860,W,1,03,00.5,056.3,M,-99.9,M,,*44 : TerrainNav update at nav time = 764.997594 : TerrainNav update at dvl time = 764.997594 : _navData-> (x,y) = (4074933.45, 590995.71) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202053.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202052.41,3648.9533,N,-12158.7865,W,1,03,00.5,056.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : stat is 92342 : got a SAN packet : time:73311.359375 : lat:36.8159 lon:-121.9793 : slant range: 1.00 : SNR:13.800000 AGC:68 : AshtechGps::processRecord() - $GPGGA,202054.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202053.41,3648.9540,N,-12158.7869,W,1,03,00.5,056.5,M,-99.9,M,,*4a : Navigation: SAN - New position is lat 36.81594 lon -121.97933 decimal degrees Navigation: SAN - t = 1269980453.44, depth = 110.05 meters Navigation: SAN - Offset is 40.44 meters : Estimated North Bias at time = 765.00 : 13.89 : Estimated East Bias at time = 765.00 : 19.75 : Estimated Depth Bias at time = 765.00 : 0.56 : Estimated northing and easting = 4074947.34 : 591015.46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202055.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202054.41,3648.9572,N,-12158.7604,W,1,03,00.5,057.0,M,-99.9,M,,*4d : TerrainNav update at nav time = 767.997389 : TerrainNav update at dvl time = 767.997389 : _navData-> (x,y) = (4074942.50, 591033.65) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202056.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202055.41,3648.9579,N,-12158.7609,W,1,03,00.5,057.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202057.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202056.41,3648.9586,N,-12158.7614,W,1,03,00.5,056.9,M,-99.9,M,,*4d : Estimated North Bias at time = 768.00 : 8.73 : Estimated East Bias at time = 768.00 : -21.28 : Estimated Depth Bias at time = 768.00 : 0.55 : Estimated northing and easting = 4074951.23 : 591012.37 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202058.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202057.41,3648.9593,N,-12158.7620,W,1,03,00.5,057.2,M,-99.9,M,,*45 : TerrainNav update at nav time = 770.997183 : TerrainNav update at dvl time = 770.997183 : _navData-> (x,y) = (4074946.33, 591031.04) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202059.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202058.41,3648.9600,N,-12158.7627,W,1,03,00.5,058.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202100.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202059.41,3648.9605,N,-12158.7634,W,1,03,00.5,058.0,M,-99.9,M,,*4f : Estimated North Bias at time = 771.00 : 8.56 : Estimated East Bias at time = 771.00 : -22.67 : Estimated Depth Bias at time = 771.00 : 0.56 : Estimated northing and easting = 4074954.89 : 591008.38 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202101.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202100.41,3648.9610,N,-12158.7642,W,1,03,00.5,058.5,M,-99.9,M,,*42 : TerrainNav update at nav time = 773.996978 : TerrainNav update at dvl time = 773.996978 : _navData-> (x,y) = (4074949.20, 591027.55) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202102.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202101.41,3648.9614,N,-12158.7651,W,1,03,00.5,059.4,M,-99.9,M,,*45 : Estimated North Bias at time = 774.00 : 8.93 : Estimated East Bias at time = 774.00 : -22.99 : Estimated Depth Bias at time = 774.00 : 0.56 : Estimated northing and easting = 4074958.13 : 591004.56 : AshtechGps::processRecord() - $GPGGA,202103.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202102.41,3648.9617,N,-12158.7660,W,1,03,00.5,062.2,M,-99.9,M,,*49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202104.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202103.41,3648.9618,N,-12158.7669,W,1,03,00.5,061.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 776.996772 : TerrainNav update at dvl time = 776.996772 : _navData-> (x,y) = (4074950.25, 591023.58) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202105.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202104.41,3648.9619,N,-12158.7677,W,1,03,00.5,062.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202106.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202105.41,3648.9618,N,-12158.7686,W,1,03,00.5,062.4,M,-99.9,M,,*4f : Estimated North Bias at time = 777.00 : 9.45 : Estimated East Bias at time = 777.00 : -24.42 : Estimated Depth Bias at time = 777.00 : 0.56 : Estimated northing and easting = 4074959.69 : 590999.16 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202107.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202106.41,3648.9616,N,-12158.7693,W,1,03,00.5,062.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 779.996567 : TerrainNav update at dvl time = 779.996567 : _navData-> (x,y) = (4074949.39, 591020.12) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202108.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202107.41,3648.9613,N,-12158.7700,W,1,03,00.5,062.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202109.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202108.41,3648.9610,N,-12158.7707,W,1,03,00.5,061.7,M,-99.9,M,,*42 : Estimated North Bias at time = 780.00 : 10.21 : Estimated East Bias at time = 780.00 : -25.45 : Estimated Depth Bias at time = 780.00 : 0.56 : Estimated northing and easting = 4074959.61 : 590994.67 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202110.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202109.41,3648.9607,N,-12158.7714,W,1,03,00.5,062.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 782.996361 : TerrainNav update at dvl time = 782.996361 : _navData-> (x,y) = (4074947.64, 591017.13) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202111.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202110.41,3648.9604,N,-12158.7720,W,1,03,00.5,061.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202112.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202111.41,3648.9600,N,-12158.7728,W,1,03,00.5,060.5,M,-99.9,M,,*45 : Estimated North Bias at time = 783.00 : 10.28 : Estimated East Bias at time = 783.00 : -26.24 : Estimated Depth Bias at time = 783.00 : 0.56 : Estimated northing and easting = 4074957.91 : 590990.89 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202113.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202112.41,3648.9597,N,-12158.7736,W,1,03,00.5,060.8,M,-99.9,M,,*49 : TerrainNav update at nav time = 785.996156 : TerrainNav update at dvl time = 785.996156 : _navData-> (x,y) = (4074945.86, 591013.75) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202114.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202113.41,3648.9595,N,-12158.7744,W,1,03,00.5,061.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202115.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202114.41,3648.9592,N,-12158.7753,W,1,03,00.5,061.7,M,-99.9,M,,*47 : Estimated North Bias at time = 786.00 : 9.75 : Estimated East Bias at time = 786.00 : -25.87 : Estimated Depth Bias at time = 786.00 : 0.56 : Estimated northing and easting = 4074955.61 : 590987.88 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202116.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202115.40,3648.9590,N,-12158.7763,W,1,03,00.5,060.9,M,-99.9,M,,*49 : TerrainNav update at nav time = 788.995950 : TerrainNav update at dvl time = 788.995950 : _navData-> (x,y) = (4074944.70, 591009.63) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202117.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202116.40,3648.9589,N,-12158.7772,W,1,03,00.5,061.7,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202118.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202117.40,3648.9588,N,-12158.7782,W,1,03,00.5,062.6,M,-99.9,M,,*40 : Estimated North Bias at time = 789.00 : 8.42 : Estimated East Bias at time = 789.00 : -25.13 : Estimated Depth Bias at time = 789.00 : 0.56 : Estimated northing and easting = 4074953.13 : 590984.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202119.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202118.40,3648.9588,N,-12158.7792,W,1,03,00.5,063.2,M,-99.9,M,,*4b : TerrainNav update at nav time = 791.995745 : TerrainNav update at dvl time = 791.995745 : _navData-> (x,y) = (4074944.38, 591005.23) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202120.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202119.40,3648.9588,N,-12158.7802,W,1,03,00.5,063.9,M,-99.9,M,,*47 : Estimated North Bias at time = 792.00 : 7.01 : Estimated East Bias at time = 792.00 : -24.65 : Estimated Depth Bias at time = 792.00 : 0.56 : Estimated northing and easting = 4074951.39 : 590980.58 : AshtechGps::processRecord() - $GPGGA,202121.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202120.40,3648.9589,N,-12158.7812,W,1,03,00.5,064.1,M,-99.9,M,,*42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202122.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202121.40,3648.9590,N,-12158.7821,W,1,03,00.5,064.7,M,-99.9,M,,*4d : TerrainNav update at nav time = 794.995539 : TerrainNav update at dvl time = 794.995539 : _navData-> (x,y) = (4074944.81, 591000.92) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202123.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202122.40,3648.9591,N,-12158.7831,W,1,03,00.5,065.7,M,-99.9,M,,*4f : Estimated North Bias at time = 795.00 : 5.74 : Estimated East Bias at time = 795.00 : -24.60 : Estimated Depth Bias at time = 795.00 : 0.56 : Estimated northing and easting = 4074950.55 : 590976.32 : AshtechGps::processRecord() - $GPGGA,202124.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202123.40,3648.9593,N,-12158.7840,W,1,03,00.5,065.7,M,-99.9,M,,*4a : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202125.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202124.40,3648.9596,N,-12158.7849,W,1,03,00.5,066.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 797.995334 : TerrainNav update at dvl time = 797.995334 : _navData-> (x,y) = (4074945.98, 590996.80) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202126.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202125.40,3648.9598,N,-12158.7858,W,1,03,00.5,065.4,M,-99.9,M,,*4d : Estimated North Bias at time = 798.00 : 4.76 : Estimated East Bias at time = 798.00 : -24.53 : Estimated Depth Bias at time = 798.00 : 0.56 : Estimated northing and easting = 4074950.74 : 590972.27 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202127.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202126.40,3648.9601,N,-12158.7867,W,1,03,00.5,065.7,M,-99.9,M,,*42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202128.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202127.40,3648.9605,N,-12158.7876,W,1,03,00.5,066.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 800.995128 : TerrainNav update at dvl time = 800.995128 : _navData-> (x,y) = (4074947.76, 590992.81) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202129.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202128.40,3648.9609,N,-12158.7885,W,1,03,00.5,066.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : Estimated North Bias at time = 801.00 : 3.61 : Estimated East Bias at time = 801.00 : -24.89 : Estimated Depth Bias at time = 801.00 : 0.56 : Estimated northing and easting = 4074951.36 : 590967.91 : AshtechGps::processRecord() - $GPGGA,202130.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202129.40,3648.9613,N,-12158.7894,W,1,03,00.5,067.3,M,-99.9,M,,*44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202131.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202130.40,3648.9617,N,-12158.7902,W,1,03,00.5,067.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 803.994923 : TerrainNav update at dvl time = 803.994923 : _navData-> (x,y) = (4074950.00, 590988.93) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202132.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202131.40,3648.9621,N,-12158.7911,W,1,03,00.5,068.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202133.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202132.40,3648.9626,N,-12158.7919,W,1,03,00.5,067.4,M,-99.9,M,,*4b : Estimated North Bias at time = 803.99 : 2.76 : Estimated East Bias at time = 803.99 : -25.27 : Estimated Depth Bias at time = 803.99 : 0.56 : Estimated northing and easting = 4074952.76 : 590963.65 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202134.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202133.40,3648.9631,N,-12158.7927,W,1,03,00.5,069.3,M,-99.9,M,,*48 : TerrainNav update at nav time = 806.994717 : TerrainNav update at dvl time = 806.994717 : _navData-> (x,y) = (4074952.57, 590985.17) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202135.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202134.40,3648.9636,N,-12158.7936,W,1,03,00.5,068.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : stat is 92342 : got a SAN packet : time:73352.703125 : lat:36.8161 lon:-121.9798 : slant range: 1.00 : SNR:13.400000 AGC:65 : AshtechGps::processRecord() - $GPGGA,202136.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202135.40,3648.9641,N,-12158.7944,W,1,03,00.5,069.4,M,-99.9,M,,*4b : Navigation: SAN - New position is lat 36.81607 lon -121.97978 decimal degrees Navigation: SAN - t = 1269980495.43, depth = 109.96 meters Navigation: SAN - Offset is 11.09 meters : Estimated North Bias at time = 806.99 : 2.04 : Estimated East Bias at time = 806.99 : -25.76 : Estimated Depth Bias at time = 806.99 : 0.56 : Estimated northing and easting = 4074954.61 : 590959.41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202137.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202136.40,3648.9650,N,-12158.7877,W,1,03,00.5,069.1,M,-99.9,M,,*4c : TerrainNav update at nav time = 809.994512 : TerrainNav update at dvl time = 809.994512 : _navData-> (x,y) = (4074956.23, 590992.60) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202138.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202137.40,3648.9655,N,-12158.7885,W,1,03,00.5,071.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202139.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202138.41,3648.9660,N,-12158.7893,W,1,03,00.5,070.9,M,-99.9,M,,*4a : Estimated North Bias at time = 809.99 : 1.07 : Estimated East Bias at time = 809.99 : -37.43 : Estimated Depth Bias at time = 809.99 : 0.56 : Estimated northing and easting = 4074957.30 : 590955.16 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202140.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202139.41,3648.9665,N,-12158.7902,W,1,03,00.5,070.0,M,-99.9,M,,*4e : TerrainNav update at nav time = 812.994306 : TerrainNav update at dvl time = 812.994306 : _navData-> (x,y) = (4074958.95, 590988.85) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202141.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202140.41,3648.9670,N,-12158.7911,W,1,03,00.5,071.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202142.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202141.41,3648.9674,N,-12158.7919,W,1,03,00.5,072.0,M,-99.9,M,,*49 : Estimated North Bias at time = 812.99 : 0.99 : Estimated East Bias at time = 812.99 : -37.60 : Estimated Depth Bias at time = 812.99 : 0.56 : Estimated northing and easting = 4074959.95 : 590951.25 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202143.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202142.41,3648.9679,N,-12158.7928,W,1,03,00.5,073.4,M,-99.9,M,,*40 : TerrainNav update at nav time = 815.994101 : TerrainNav update at dvl time = 815.994101 : _navData-> (x,y) = (4074961.40, 590984.86) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202144.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202143.41,3648.9683,N,-12158.7937,W,1,03,00.5,073.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202145.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202144.41,3648.9687,N,-12158.7946,W,1,03,00.5,074.3,M,-99.9,M,,*4f : Estimated North Bias at time = 815.99 : 0.27 : Estimated East Bias at time = 815.99 : -38.03 : Estimated Depth Bias at time = 815.99 : 0.56 : Estimated northing and easting = 4074961.68 : 590946.84 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202146.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202145.41,3648.9691,N,-12158.7955,W,1,03,00.5,073.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 818.993895 : TerrainNav update at dvl time = 818.993895 : _navData-> (x,y) = (4074963.68, 590980.81) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202147.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202146.41,3648.9696,N,-12158.7964,W,1,03,00.5,073.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202148.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202147.41,3648.9700,N,-12158.7973,W,1,03,00.5,074.3,M,-99.9,M,,*44 : Estimated North Bias at time = 818.99 : -0.71 : Estimated East Bias at time = 818.99 : -38.42 : Estimated Depth Bias at time = 818.99 : 0.56 : Estimated northing and easting = 4074962.97 : 590942.39 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202149.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202148.41,3648.9704,N,-12158.7982,W,1,03,00.5,075.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 821.993690 : TerrainNav update at dvl time = 821.993690 : _navData-> (x,y) = (4074966.04, 590976.89) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202150.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202149.41,3648.9709,N,-12158.7990,W,1,03,00.5,074.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202151.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202150.41,3648.9714,N,-12158.7999,W,1,03,00.5,075.5,M,-99.9,M,,*44 : Estimated North Bias at time = 821.99 : -1.67 : Estimated East Bias at time = 821.99 : -38.75 : Estimated Depth Bias at time = 821.99 : 0.56 : Estimated northing and easting = 4074964.38 : 590938.15 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202152.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202151.41,3648.9719,N,-12158.8007,W,1,03,00.5,076.7,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 824.993484 : TerrainNav update at dvl time = 824.993484 : _navData-> (x,y) = (4074968.76, 590973.11) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202153.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202152.41,3648.9724,N,-12158.8015,W,1,03,00.5,077.3,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202154.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202153.41,3648.9730,N,-12158.8023,W,1,03,00.5,076.9,M,-99.9,M,,*49 : Estimated North Bias at time = 824.99 : -2.80 : Estimated East Bias at time = 824.99 : -39.37 : Estimated Depth Bias at time = 824.99 : 0.56 : Estimated northing and easting = 4074965.97 : 590933.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202155.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202154.41,3648.9735,N,-12158.8031,W,1,03,00.5,078.9,M,-99.9,M,,*46 : TerrainNav update at nav time = 827.993279 : TerrainNav update at dvl time = 827.993279 : _navData-> (x,y) = (4074971.90, 590969.59) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202156.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202155.41,3648.9741,N,-12158.8039,W,1,03,00.5,078.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202157.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202156.41,3648.9748,N,-12158.8046,W,1,03,00.5,079.8,M,-99.9,M,,*4e : Estimated North Bias at time = 827.99 : -3.01 : Estimated East Bias at time = 827.99 : -39.87 : Estimated Depth Bias at time = 827.99 : 0.55 : Estimated northing and easting = 4074968.89 : 590929.72 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202158.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202157.41,3648.9754,N,-12158.8052,W,1,03,00.5,081.1,M,-99.9,M,,*49 : TerrainNav update at nav time = 830.993073 : TerrainNav update at dvl time = 830.993073 : _navData-> (x,y) = (4074975.36, 590966.54) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202159.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202158.41,3648.9760,N,-12158.8058,W,1,03,00.5,080.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202200.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202159.41,3648.9767,N,-12158.8064,W,1,03,00.5,081.7,M,-99.9,M,,*44 : Estimated North Bias at time = 830.99 : -2.17 : Estimated East Bias at time = 830.99 : -40.38 : Estimated Depth Bias at time = 830.99 : 0.55 : Estimated northing and easting = 4074973.18 : 590926.16 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202201.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202200.41,3648.9774,N,-12158.8070,W,1,03,00.5,082.2,M,-99.9,M,,*4a : TerrainNav update at nav time = 833.992867 : TerrainNav update at dvl time = 833.992867 : _navData-> (x,y) = (4074979.04, 590963.96) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202202.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202201.41,3648.9781,N,-12158.8075,W,1,03,00.5,082.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202203.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202202.41,3648.9788,N,-12158.8080,W,1,03,00.5,082.5,M,-99.9,M,,*43 : Estimated North Bias at time = 833.99 : -2.33 : Estimated East Bias at time = 833.99 : -41.23 : Estimated Depth Bias at time = 833.99 : 0.55 : Estimated northing and easting = 4074976.72 : 590922.73 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202204.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202203.41,3648.9795,N,-12158.8085,W,1,03,00.5,082.4,M,-99.9,M,,*4a : TerrainNav update at nav time = 837.002661 : TerrainNav update at dvl time = 837.002661 : _navData-> (x,y) = (4074982.93, 590961.63) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202205.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202204.41,3648.9802,N,-12158.8090,W,1,03,00.5,083.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202206.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202205.41,3648.9809,N,-12158.8095,W,1,03,00.5,083.7,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : Estimated North Bias at time = 837.00 : -1.40 : Estimated East Bias at time = 837.00 : -41.52 : Estimated Depth Bias at time = 837.00 : 0.55 : Estimated northing and easting = 4074981.53 : 590920.12 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202207.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202206.41,3648.9817,N,-12158.8100,W,1,03,00.5,084.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 840.002456 : TerrainNav update at dvl time = 840.002456 : _navData-> (x,y) = (4074986.98, 590959.46) : _tercom->outstandingMeas() = 0 : stat is 92342 : got a SAN packet : time:73384.781250 : lat:36.8161 lon:-121.9803 : slant range: 1.00 : SNR:15.500000 AGC:39 : AshtechGps::processRecord() - $GPGGA,202208.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202207.41,3648.9824,N,-12158.8105,W,1,03,00.5,084.8,M,-99.9,M,,*48 : Navigation: SAN - New position is lat 36.81610 lon -121.98030 decimal degrees Navigation: SAN - t = 1269980527.44, depth = 109.87 meters Navigation: SAN - Offset is 32.66 meters : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202209.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202208.41,3648.9666,N,-12158.8185,W,1,03,00.5,085.3,M,-99.9,M,,*4d : Estimated North Bias at time = 840.00 : -1.46 : Estimated East Bias at time = 840.00 : -42.19 : Estimated Depth Bias at time = 840.00 : 0.55 : Estimated northing and easting = 4074985.52 : 590917.26 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202210.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202209.41,3648.9673,N,-12158.8189,W,1,03,00.5,084.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 843.002250 : TerrainNav update at dvl time = 843.002250 : _navData-> (x,y) = (4074960.38, 590946.58) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202211.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202210.41,3648.9681,N,-12158.8193,W,1,03,00.5,085.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202212.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202211.41,3648.9689,N,-12158.8196,W,1,03,00.5,085.5,M,-99.9,M,,*40 : Estimated North Bias at time = 843.00 : 29.36 : Estimated East Bias at time = 843.00 : -31.83 : Estimated Depth Bias at time = 843.00 : 0.55 : Estimated northing and easting = 4074989.74 : 590914.75 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202213.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202212.41,3648.9697,N,-12158.8198,W,1,03,00.5,087.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 846.002045 : TerrainNav update at dvl time = 846.002045 : _navData-> (x,y) = (4074964.67, 590945.31) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202214.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202213.41,3648.9704,N,-12158.8200,W,1,03,00.5,088.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202215.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202214.41,3648.9712,N,-12158.8201,W,1,03,00.5,088.0,M,-99.9,M,,*43 : Estimated North Bias at time = 846.00 : 30.54 : Estimated East Bias at time = 846.00 : -32.08 : Estimated Depth Bias at time = 846.00 : 0.55 : Estimated northing and easting = 4074995.22 : 590913.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202216.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202215.41,3648.9720,N,-12158.8201,W,1,03,00.5,089.8,M,-99.9,M,,*4a : TerrainNav update at nav time = 849.001839 : TerrainNav update at dvl time = 849.001839 : _navData-> (x,y) = (4074968.85, 590945.13) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202217.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202216.41,3648.9727,N,-12158.8200,W,1,03,00.5,089.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202218.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202217.41,3648.9733,N,-12158.8198,W,1,03,00.5,089.6,M,-99.9,M,,*47 : Estimated North Bias at time = 849.00 : 32.05 : Estimated East Bias at time = 849.00 : -32.48 : Estimated Depth Bias at time = 849.00 : 0.55 : Estimated northing and easting = 4075000.91 : 590912.65 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202219.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202218.41,3648.9740,N,-12158.8196,W,1,03,00.5,090.7,M,-99.9,M,,*4b : TerrainNav update at nav time = 852.001634 : TerrainNav update at dvl time = 852.001634 : _navData-> (x,y) = (4074972.45, 590946.08) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202220.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202219.41,3648.9746,N,-12158.8192,W,1,03,00.5,089.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202221.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202220.41,3648.9751,N,-12158.8189,W,1,03,00.5,090.1,M,-99.9,M,,*48 : Estimated North Bias at time = 852.00 : 33.00 : Estimated East Bias at time = 852.00 : -33.20 : Estimated Depth Bias at time = 852.00 : 0.54 : Estimated northing and easting = 4075005.45 : 590912.88 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202222.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202221.41,3648.9756,N,-12158.8185,W,1,03,00.5,090.9,M,-99.9,M,,*4a : TerrainNav update at nav time = 855.001428 : TerrainNav update at dvl time = 855.001428 : _navData-> (x,y) = (4074975.49, 590947.81) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202223.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202222.41,3648.9762,N,-12158.8180,W,1,03,00.5,088.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202224.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202223.41,3648.9767,N,-12158.8176,W,1,03,00.5,090.2,M,-99.9,M,,*4d : Estimated North Bias at time = 855.00 : 33.64 : Estimated East Bias at time = 855.00 : -33.09 : Estimated Depth Bias at time = 855.00 : 0.54 : Estimated northing and easting = 4075009.13 : 590914.71 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202225.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202224.41,3648.9773,N,-12158.8171,W,1,03,00.5,088.2,M,-99.9,M,,*41 : TerrainNav update at nav time = 858.001223 : TerrainNav update at dvl time = 858.001223 : _navData-> (x,y) = (4074978.56, 590949.81) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202226.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202225.41,3648.9779,N,-12158.8167,W,1,03,00.5,088.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202227.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202226.41,3648.9785,N,-12158.8162,W,1,03,00.5,086.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : Estimated North Bias at time = 858.00 : 33.17 : Estimated East Bias at time = 858.00 : -32.98 : Estimated Depth Bias at time = 858.00 : 0.54 : Estimated northing and easting = 4075011.74 : 590916.83 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202228.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202227.41,3648.9791,N,-12158.8159,W,1,03,00.5,084.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 861.001017 : TerrainNav update at dvl time = 861.001017 : _navData-> (x,y) = (4074981.97, 590951.51) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202229.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202228.41,3648.9797,N,-12158.8155,W,1,03,00.5,085.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202230.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202229.41,3648.9804,N,-12158.8153,W,1,03,00.5,084.8,M,-99.9,M,,*45 : Estimated North Bias at time = 861.00 : 32.74 : Estimated East Bias at time = 861.00 : -31.72 : Estimated Depth Bias at time = 861.00 : 0.54 : Estimated northing and easting = 4075014.71 : 590919.80 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202231.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202230.41,3648.9810,N,-12158.8150,W,1,03,00.5,083.7,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 864.000812 : TerrainNav update at dvl time = 864.000812 : _navData-> (x,y) = (4074985.68, 590952.60) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202232.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202231.41,3648.9817,N,-12158.8148,W,1,03,00.5,083.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202233.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202232.41,3648.9824,N,-12158.8147,W,1,03,00.5,083.9,M,-99.9,M,,*4e : Estimated North Bias at time = 864.00 : 32.19 : Estimated East Bias at time = 864.00 : -30.67 : Estimated Depth Bias at time = 864.00 : 0.54 : Estimated northing and easting = 4075017.87 : 590921.93 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202234.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202233.41,3648.9831,N,-12158.8146,W,1,03,00.5,083.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 867.000606 : TerrainNav update at dvl time = 867.000606 : _navData-> (x,y) = (4074989.60, 590953.13) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202235.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202234.41,3648.9839,N,-12158.8145,W,1,03,00.5,084.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202236.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202235.41,3648.9846,N,-12158.8144,W,1,03,00.5,083.5,M,-99.9,M,,*42 : Estimated North Bias at time = 867.00 : 31.65 : Estimated East Bias at time = 867.00 : -29.87 : Estimated Depth Bias at time = 867.00 : 0.55 : Estimated northing and easting = 4075021.25 : 590923.26 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202237.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202236.41,3648.9853,N,-12158.8144,W,1,03,00.5,084.0,M,-99.9,M,,*47 : TerrainNav update at nav time = 870.000401 : TerrainNav update at dvl time = 870.000401 : _navData-> (x,y) = (4074993.64, 590953.27) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202238.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202237.41,3648.9860,N,-12158.8144,W,1,03,00.5,084.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : stat is 92342 : got a SAN packet : time:73416.484375 : lat:36.8165 lon:-121.9805 : slant range: 1.00 : SNR:17.100000 AGC:37 : AshtechGps::processRecord() - $GPGGA,202239.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202238.41,3648.9868,N,-12158.8144,W,1,03,00.5,085.4,M,-99.9,M,,*44 : Navigation: SAN - New position is lat 36.81648 lon -121.98045 decimal degrees Navigation: SAN - t = 1269980558.44, depth = 109.95 meters Navigation: SAN - Offset is 19.43 meters : Estimated North Bias at time = 870.00 : 31.13 : Estimated East Bias at time = 870.00 : -29.47 : Estimated Depth Bias at time = 870.00 : 0.57 : Estimated northing and easting = 4075024.77 : 590923.81 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202240.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202239.41,3648.9897,N,-12158.8273,W,1,03,00.5,084.1,M,-99.9,M,,*46 : TerrainNav update at nav time = 873.000196 : TerrainNav update at dvl time = 873.000196 : _navData-> (x,y) = (4075001.55, 590933.95) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202241.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202240.41,3648.9904,N,-12158.8274,W,1,03,00.5,086.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202242.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202241.41,3648.9912,N,-12158.8275,W,1,03,00.5,085.7,M,-99.9,M,,*44 : Estimated North Bias at time = 873.00 : 26.48 : Estimated East Bias at time = 873.00 : -10.57 : Estimated Depth Bias at time = 873.00 : 0.60 : Estimated northing and easting = 4075028.03 : 590923.38 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202243.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202242.41,3648.9919,N,-12158.8276,W,1,03,00.5,087.1,M,-99.9,M,,*4b : TerrainNav update at nav time = 875.999990 : TerrainNav update at dvl time = 875.999990 : _navData-> (x,y) = (4075005.73, 590933.45) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202244.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202243.41,3648.9927,N,-12158.8277,W,1,03,00.5,088.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202245.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202244.41,3648.9935,N,-12158.8277,W,1,03,00.5,089.0,M,-99.9,M,,*4d : Estimated North Bias at time = 876.00 : 25.40 : Estimated East Bias at time = 876.00 : -11.29 : Estimated Depth Bias at time = 876.00 : 0.63 : Estimated northing and easting = 4075031.13 : 590922.17 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202246.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202245.41,3648.9942,N,-12158.8277,W,1,03,00.5,090.5,M,-99.9,M,,*41 : TerrainNav update at nav time = 878.999784 : TerrainNav update at dvl time = 878.999784 : _navData-> (x,y) = (4075009.97, 590933.32) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202247.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202246.41,3648.9950,N,-12158.8277,W,1,03,00.5,091.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202248.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202247.41,3648.9957,N,-12158.8276,W,1,03,00.5,091.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : Estimated North Bias at time = 879.00 : 24.76 : Estimated East Bias at time = 879.00 : -12.16 : Estimated Depth Bias at time = 879.00 : 0.62 : Estimated northing and easting = 4075034.73 : 590921.16 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202249.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202248.41,3648.9965,N,-12158.8275,W,1,03,00.5,091.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 881.999579 : TerrainNav update at dvl time = 881.999579 : _navData-> (x,y) = (4075014.08, 590933.77) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202250.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202249.41,3648.9972,N,-12158.8273,W,1,03,00.5,091.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202251.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202250.41,3648.9979,N,-12158.8271,W,1,03,00.5,091.3,M,-99.9,M,,*4c : Estimated North Bias at time = 882.00 : 24.40 : Estimated East Bias at time = 882.00 : -13.06 : Estimated Depth Bias at time = 882.00 : 0.61 : Estimated northing and easting = 4075038.48 : 590920.71 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202252.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202251.41,3648.9987,N,-12158.8269,W,1,03,00.5,091.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 884.999373 : TerrainNav update at dvl time = 884.999373 : _navData-> (x,y) = (4075018.23, 590934.50) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202253.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202252.41,3648.9995,N,-12158.8268,W,1,03,00.5,089.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202254.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202253.41,3649.0002,N,-12158.8266,W,1,03,00.5,089.0,M,-99.9,M,,*4e : Estimated North Bias at time = 885.00 : 24.18 : Estimated East Bias at time = 885.00 : -13.31 : Estimated Depth Bias at time = 885.00 : 0.59 : Estimated northing and easting = 4075042.41 : 590921.19 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202255.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202254.41,3649.0010,N,-12158.8265,W,1,03,00.5,088.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 887.999168 : TerrainNav update at dvl time = 887.999168 : _navData-> (x,y) = (4075022.50, 590934.97) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202256.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202255.41,3649.0018,N,-12158.8265,W,1,03,00.5,088.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202257.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202256.41,3649.0026,N,-12158.8264,W,1,03,00.5,086.7,M,-99.9,M,,*47 : Estimated North Bias at time = 888.00 : 24.24 : Estimated East Bias at time = 888.00 : -13.06 : Estimated Depth Bias at time = 888.00 : 0.59 : Estimated northing and easting = 4075046.74 : 590921.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202258.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202257.41,3649.0033,N,-12158.8265,W,1,03,00.5,087.2,M,-99.9,M,,*47 : TerrainNav update at nav time = 890.998962 : TerrainNav update at dvl time = 890.998962 : _navData-> (x,y) = (4075026.86, 590934.93) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202259.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202258.41,3649.0041,N,-12158.8265,W,1,03,00.5,088.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202300.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202259.41,3649.0049,N,-12158.8266,W,1,03,00.5,088.5,M,-99.9,M,,*4f : Estimated North Bias at time = 891.00 : 24.60 : Estimated East Bias at time = 891.00 : -12.72 : Estimated Depth Bias at time = 891.00 : 0.58 : Estimated northing and easting = 4075051.47 : 590922.20 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202301.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202300.41,3649.0057,N,-12158.8267,W,1,03,00.5,087.6,M,-99.9,M,,*40 : TerrainNav update at nav time = 893.998757 : TerrainNav update at dvl time = 893.998757 : _navData-> (x,y) = (4075031.23, 590934.44) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202302.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202301.41,3649.0065,N,-12158.8268,W,1,03,00.5,088.3,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202303.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202302.41,3649.0073,N,-12158.8270,W,1,03,00.5,088.7,M,-99.9,M,,*4c : Estimated North Bias at time = 894.00 : 25.01 : Estimated East Bias at time = 894.00 : -12.45 : Estimated Depth Bias at time = 894.00 : 0.57 : Estimated northing and easting = 4075056.24 : 590921.98 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202304.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202303.41,3649.0081,N,-12158.8272,W,1,03,00.5,089.5,M,-99.9,M,,*41 : TerrainNav update at nav time = 896.998551 : TerrainNav update at dvl time = 896.998551 : _navData-> (x,y) = (4075035.60, 590933.67) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202305.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202304.41,3649.0089,N,-12158.8273,W,1,03,00.5,090.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202306.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202305.41,3649.0097,N,-12158.8275,W,1,03,00.5,090.9,M,-99.9,M,,*43 : Estimated North Bias at time = 897.00 : 25.00 : Estimated East Bias at time = 897.00 : -12.19 : Estimated Depth Bias at time = 897.00 : 0.57 : Estimated northing and easting = 4075060.60 : 590921.48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202307.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202306.41,3649.0104,N,-12158.8278,W,1,03,00.5,090.6,M,-99.9,M,,*49 : TerrainNav update at nav time = 899.998346 : TerrainNav update at dvl time = 899.998346 : _navData-> (x,y) = (4075039.94, 590932.71) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202308.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202307.41,3649.0112,N,-12158.8280,W,1,03,00.5,090.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202309.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202308.41,3649.0120,N,-12158.8282,W,1,03,00.5,091.2,M,-99.9,M,,*41 : Estimated North Bias at time = 900.00 : 25.04 : Estimated East Bias at time = 900.00 : -11.80 : Estimated Depth Bias at time = 900.00 : 0.56 : Estimated northing and easting = 4075064.99 : 590920.91 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202310.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202309.41,3649.0128,N,-12158.8285,W,1,03,00.5,090.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 902.998140 : TerrainNav update at dvl time = 902.998140 : _navData-> (x,y) = (4075044.24, 590931.53) : _tercom->outstandingMeas() = 0 : stat is 92342 : got a SAN packet : time:73448.007812 : lat:36.8169 lon:-121.9804 : slant range: 1.00 : SNR:14.900000 AGC:41 : AshtechGps::processRecord() - $GPGGA,202311.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202310.41,3649.0136,N,-12158.8288,W,1,03,00.5,092.4,M,-99.9,M,,*40 : Navigation: SAN - New position is lat 36.81694 lon -121.98043 decimal degrees Navigation: SAN - t = 1269980590.44, depth = 110.14 meters Navigation: SAN - Offset is 7.20 meters : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202312.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202311.41,3649.0174,N,-12158.8261,W,1,03,00.5,093.0,M,-99.9,M,,*45 : Estimated North Bias at time = 903.00 : 24.92 : Estimated East Bias at time = 903.00 : -11.61 : Estimated Depth Bias at time = 903.00 : 0.55 : Estimated northing and easting = 4075069.16 : 590919.92 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202313.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202312.41,3649.0182,N,-12158.8265,W,1,03,00.5,092.7,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 905.997935 : TerrainNav update at dvl time = 905.997935 : _navData-> (x,y) = (4075054.29, 590934.29) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202314.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202313.41,3649.0190,N,-12158.8269,W,1,03,00.5,091.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202315.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202314.41,3649.0197,N,-12158.8273,W,1,03,00.5,091.9,M,-99.9,M,,*45 : Estimated North Bias at time = 906.00 : 18.96 : Estimated East Bias at time = 906.00 : -15.76 : Estimated Depth Bias at time = 906.00 : 0.55 : Estimated northing and easting = 4075073.24 : 590918.53 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202316.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202315.41,3649.0204,N,-12158.8278,W,1,03,00.5,093.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 908.997729 : TerrainNav update at dvl time = 908.997729 : _navData-> (x,y) = (4075058.24, 590932.12) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202317.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202316.41,3649.0211,N,-12158.8284,W,1,03,00.5,094.8,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202318.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202317.41,3649.0217,N,-12158.8289,W,1,03,00.5,094.8,M,-99.9,M,,*4c : Estimated North Bias at time = 909.00 : 19.44 : Estimated East Bias at time = 909.00 : -14.94 : Estimated Depth Bias at time = 909.00 : 0.55 : Estimated northing and easting = 4075077.69 : 590917.18 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202319.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202318.41,3649.0223,N,-12158.8296,W,1,03,00.5,096.1,M,-99.9,M,,*41 : TerrainNav update at nav time = 911.997524 : TerrainNav update at dvl time = 911.997524 : _navData-> (x,y) = (4075061.70, 590929.43) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202320.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202319.41,3649.0229,N,-12158.8302,W,1,03,00.5,098.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202321.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202320.41,3649.0235,N,-12158.8309,W,1,03,00.5,099.0,M,-99.9,M,,*44 : Estimated North Bias at time = 912.00 : 19.93 : Estimated East Bias at time = 912.00 : -14.51 : Estimated Depth Bias at time = 912.00 : 0.55 : Estimated northing and easting = 4075081.63 : 590914.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202322.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202321.41,3649.0240,N,-12158.8316,W,1,03,00.5,100.0,M,-99.9,M,,*48 : TerrainNav update at nav time = 914.997319 : TerrainNav update at dvl time = 914.997319 : _navData-> (x,y) = (4075064.72, 590926.33) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202323.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202322.41,3649.0245,N,-12158.8323,W,1,03,00.5,099.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202324.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202323.41,3649.0251,N,-12158.8330,W,1,03,00.5,099.6,M,-99.9,M,,*49 : Estimated North Bias at time = 915.00 : 20.11 : Estimated East Bias at time = 915.00 : -14.43 : Estimated Depth Bias at time = 915.00 : 0.56 : Estimated northing and easting = 4075084.83 : 590911.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202325.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202324.41,3649.0256,N,-12158.8338,W,1,03,00.5,099.5,M,-99.9,M,,*42 : TerrainNav update at nav time = 917.997113 : TerrainNav update at dvl time = 917.997113 : _navData-> (x,y) = (4075067.52, 590922.91) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202326.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202325.41,3649.0261,N,-12158.8346,W,1,03,00.5,098.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202327.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202326.41,3649.0266,N,-12158.8354,W,1,03,00.5,099.8,M,-99.9,M,,*44 : Estimated North Bias at time = 918.00 : 20.08 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : Estimated East Bias at time = 918.00 : -14.34 : Estimated Depth Bias at time = 918.00 : 0.56 : Estimated northing and easting = 4075087.60 : 590908.57 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202328.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202327.41,3649.0271,N,-12158.8362,W,1,03,00.5,100.2,M,-99.9,M,,*4d : TerrainNav update at nav time = 920.996907 : TerrainNav update at dvl time = 920.996907 : _navData-> (x,y) = (4075070.40, 590919.38) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202329.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202328.41,3649.0277,N,-12158.8369,W,1,03,00.5,102.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202330.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202329.41,3649.0282,N,-12158.8377,W,1,03,00.5,099.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : Estimated North Bias at time = 921.00 : 19.70 : Estimated East Bias at time = 921.00 : -14.61 : Estimated Depth Bias at time = 921.00 : 0.56 : Estimated northing and easting = 4075090.09 : 590904.77 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202331.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202330.41,3649.0288,N,-12158.8385,W,1,03,00.5,103.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 923.996702 : TerrainNav update at dvl time = 923.996702 : _navData-> (x,y) = (4075073.51, 590915.99) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202332.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202331.41,3649.0294,N,-12158.8392,W,1,03,00.5,103.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202333.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202332.41,3649.0300,N,-12158.8399,W,1,03,00.5,102.0,M,-99.9,M,,*4a : Estimated North Bias at time = 924.00 : 18.88 : Estimated East Bias at time = 924.00 : -15.25 : Estimated Depth Bias at time = 924.00 : 0.56 : Estimated northing and easting = 4075092.39 : 590900.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202334.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202333.41,3649.0306,N,-12158.8406,W,1,03,00.5,102.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 926.996496 : TerrainNav update at dvl time = 926.996496 : _navData-> (x,y) = (4075076.84, 590912.89) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202335.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202334.41,3649.0312,N,-12158.8412,W,1,03,00.5,103.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : Estimated North Bias at time = 927.00 : 18.12 : Estimated East Bias at time = 927.00 : -16.01 : Estimated Depth Bias at time = 927.00 : 0.56 : Estimated northing and easting = 4075094.96 : 590896.88 : AshtechGps::processRecord() - $GPGGA,202336.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202335.41,3649.0319,N,-12158.8418,W,1,03,00.5,104.3,M,-99.9,M,,*4e : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202337.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202336.41,3649.0325,N,-12158.8425,W,1,03,00.5,104.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 929.996291 : TerrainNav update at dvl time = 929.996291 : _navData-> (x,y) = (4075080.35, 590910.08) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202338.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202337.41,3649.0332,N,-12158.8431,W,1,03,00.5,106.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202339.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202338.41,3649.0338,N,-12158.8436,W,1,03,00.5,106.6,M,-99.9,M,,*4b : Estimated North Bias at time = 930.00 : 17.38 : Estimated East Bias at time = 930.00 : -16.81 : Estimated Depth Bias at time = 930.00 : 0.56 : Estimated northing and easting = 4075097.73 : 590893.28 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202340.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202339.41,3649.0345,N,-12158.8442,W,1,03,00.5,107.1,M,-99.9,M,,*45 : TerrainNav update at nav time = 932.996085 : TerrainNav update at dvl time = 932.996085 : _navData-> (x,y) = (4075084.04, 590907.48) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202341.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202340.41,3649.0352,N,-12158.8448,W,1,03,00.5,108.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : stat is 92342 : got a SAN packet : time:73479.414062 : lat:36.8173 lon:-121.9807 : slant range: 1.00 : SNR:16.400000 AGC:42 : AshtechGps::processRecord() - $GPGGA,202342.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202341.40,3649.0359,N,-12158.8453,W,1,03,00.5,107.1,M,-99.9,M,,*46 : Navigation: SAN - New position is lat 36.81726 lon -121.98068 decimal degrees Navigation: SAN - t = 1269980621.43, depth = 109.91 meters Navigation: SAN - Offset is 6.55 meters : Estimated North Bias at time = 933.00 : 16.83 : Estimated East Bias at time = 933.00 : -17.40 : Estimated Depth Bias at time = 933.00 : 0.56 : Estimated northing and easting = 4075100.87 : 590890.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202343.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202342.40,3649.0361,N,-12158.8415,W,1,03,00.5,107.1,M,-99.9,M,,*4c : TerrainNav update at nav time = 935.995880 : TerrainNav update at dvl time = 935.995880 : _navData-> (x,y) = (4075087.14, 590911.50) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202344.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202343.40,3649.0368,N,-12158.8420,W,1,03,00.5,108.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202345.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202344.40,3649.0375,N,-12158.8425,W,1,03,00.5,098.4,M,-99.9,M,,*4e : Estimated North Bias at time = 936.00 : 17.05 : Estimated East Bias at time = 936.00 : -24.54 : Estimated Depth Bias at time = 936.00 : 0.56 : Estimated northing and easting = 4075104.19 : 590886.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202346.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202345.40,3649.0382,N,-12158.8431,W,1,03,00.5,098.2,M,-99.9,M,,*44 : TerrainNav update at nav time = 938.995674 : TerrainNav update at dvl time = 938.995674 : _navData-> (x,y) = (4075090.97, 590909.04) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202347.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202346.40,3649.0389,N,-12158.8437,W,1,03,00.5,097.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202348.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202347.40,3649.0396,N,-12158.8443,W,1,03,00.5,100.2,M,-99.9,M,,*46 : Estimated North Bias at time = 939.00 : 16.75 : Estimated East Bias at time = 939.00 : -25.08 : Estimated Depth Bias at time = 939.00 : 0.56 : Estimated northing and easting = 4075107.72 : 590883.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202349.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202348.40,3649.0402,N,-12158.8449,W,1,03,00.5,109.4,M,-99.9,M,,*46 : TerrainNav update at nav time = 941.995469 : TerrainNav update at dvl time = 941.995469 : _navData-> (x,y) = (4075094.58, 590906.28) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202350.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202349.40,3649.0409,N,-12158.8455,W,1,03,00.5,109.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202351.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202350.40,3649.0415,N,-12158.8462,W,1,03,00.5,109.8,M,-99.9,M,,*4c : Estimated North Bias at time = 942.00 : 16.19 : Estimated East Bias at time = 942.00 : -25.81 : Estimated Depth Bias at time = 942.00 : 0.56 : Estimated northing and easting = 4075110.76 : 590880.48 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202352.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202351.40,3649.0421,N,-12158.8468,W,1,03,00.5,109.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 944.995263 : TerrainNav update at dvl time = 944.995263 : _navData-> (x,y) = (4075097.93, 590903.39) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202353.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202352.40,3649.0427,N,-12158.8475,W,1,03,00.5,109.8,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202354.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202353.40,3649.0433,N,-12158.8481,W,1,03,00.5,110.7,M,-99.9,M,,*41 : Estimated North Bias at time = 945.00 : 15.40 : Estimated East Bias at time = 945.00 : -26.53 : Estimated Depth Bias at time = 945.00 : 0.56 : Estimated northing and easting = 4075113.34 : 590876.86 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202355.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202354.40,3649.0439,N,-12158.8488,W,1,03,00.5,111.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 947.995058 : TerrainNav update at dvl time = 947.995058 : _navData-> (x,y) = (4075101.27, 590900.32) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202356.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202355.40,3649.0445,N,-12158.8495,W,1,03,00.5,112.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202357.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202356.40,3649.0451,N,-12158.8502,W,1,03,00.5,113.8,M,-99.9,M,,*46 : Estimated North Bias at time = 948.00 : 14.31 : Estimated East Bias at time = 948.00 : -27.32 : Estimated Depth Bias at time = 948.00 : 0.56 : Estimated northing and easting = 4075115.58 : 590873.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202358.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202357.40,3649.0458,N,-12158.8509,W,1,03,00.5,113.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 950.994852 : TerrainNav update at dvl time = 950.994852 : _navData-> (x,y) = (4075104.72, 590897.20) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202359.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202358.40,3649.0464,N,-12158.8516,W,1,03,00.5,115.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202400.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202359.40,3649.0470,N,-12158.8523,W,1,03,00.5,115.9,M,-99.9,M,,*4e : Estimated North Bias at time = 950.99 : 13.03 : Estimated East Bias at time = 950.99 : -28.25 : Estimated Depth Bias at time = 950.99 : 0.56 : Estimated northing and easting = 4075117.75 : 590868.94 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202401.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202400.40,3649.0477,N,-12158.8529,W,1,03,00.5,115.9,M,-99.9,M,,*48 : TerrainNav update at nav time = 953.994647 : TerrainNav update at dvl time = 953.994647 : _navData-> (x,y) = (4075108.28, 590894.23) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202402.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202401.40,3649.0483,N,-12158.8535,W,1,03,00.5,117.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202403.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202402.40,3649.0490,N,-12158.8541,W,1,03,00.5,117.7,M,-99.9,M,,*41 : Estimated North Bias at time = 953.99 : 11.91 : Estimated East Bias at time = 953.99 : -29.34 : Estimated Depth Bias at time = 953.99 : 0.56 : Estimated northing and easting = 4075120.19 : 590864.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202404.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202403.40,3649.0497,N,-12158.8547,W,1,03,00.5,118.6,M,-99.9,M,,*4f : TerrainNav update at nav time = 956.994442 : TerrainNav update at dvl time = 956.994442 : _navData-> (x,y) = (4075111.98, 590891.57) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202405.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202404.41,3649.0504,N,-12158.8553,W,1,03,00.5,119.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202406.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202405.41,3649.0511,N,-12158.8558,W,1,03,00.5,120.4,M,-99.9,M,,*40 : Estimated North Bias at time = 956.99 : 11.09 : Estimated East Bias at time = 956.99 : -30.29 : Estimated Depth Bias at time = 956.99 : 0.56 : Estimated northing and easting = 4075123.07 : 590861.28 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202407.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202406.41,3649.0518,N,-12158.8563,W,1,03,00.5,120.4,M,-99.9,M,,*42 : TerrainNav update at nav time = 959.994236 : TerrainNav update at dvl time = 959.994236 : _navData-> (x,y) = (4075115.84, 590889.15) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202408.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202407.41,3649.0525,N,-12158.8568,W,1,03,00.5,120.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202409.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202408.41,3649.0532,N,-12158.8573,W,1,03,00.5,121.4,M,-99.9,M,,*44 : Estimated North Bias at time = 959.99 : 10.57 : Estimated East Bias at time = 959.99 : -31.04 : Estimated Depth Bias at time = 959.99 : 0.56 : Estimated northing and easting = 4075126.41 : 590858.11 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202410.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202409.41,3649.0540,N,-12158.8578,W,1,03,00.5,121.4,M,-99.9,M,,*4b : TerrainNav update at nav time = 962.994030 : TerrainNav update at dvl time = 962.994030 : _navData-> (x,y) = (4075119.90, 590886.91) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202411.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202410.41,3649.0547,N,-12158.8583,W,1,03,00.5,122.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202412.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202411.41,3649.0555,N,-12158.8588,W,1,03,00.5,122.3,M,-99.9,M,,*4d : Estimated North Bias at time = 962.99 : 9.71 : Estimated East Bias at time = 962.99 : -32.07 : Estimated Depth Bias at time = 962.99 : 0.56 : Estimated northing and easting = 4075129.60 : 590854.85 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202413.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202412.41,3649.0562,N,-12158.8592,W,1,03,00.5,122.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 965.993825 : TerrainNav update at dvl time = 965.993825 : _navData-> (x,y) = (4075124.08, 590884.88) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202414.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202413.41,3649.0570,N,-12158.8596,W,1,03,00.5,122.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202415.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202414.41,3649.0578,N,-12158.8600,W,1,03,00.5,122.4,M,-99.9,M,,*43 : Estimated North Bias at time = 965.99 : 9.09 : Estimated East Bias at time = 965.99 : -33.03 : Estimated Depth Bias at time = 965.99 : 0.56 : Estimated northing and easting = 4075133.17 : 590851.85 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202416.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202415.41,3649.0585,N,-12158.8604,W,1,03,00.5,123.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 968.993619 : TerrainNav update at dvl time = 968.993619 : _navData-> (x,y) = (4075128.29, 590883.03) : _tercom->outstandingMeas() = 0 : stat is 92342 : got a SAN packet : time:73514.687500 : lat:36.8175 lon:-121.9813 : slant range: 1.00 : SNR:15.000000 AGC:41 : AshtechGps::processRecord() - $GPGGA,202417.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202416.41,3649.0593,N,-12158.8608,W,1,03,00.5,123.4,M,-99.9,M,,*4d : Navigation: SAN - New position is lat 36.81753 lon -121.98132 decimal degrees Navigation: SAN - t = 1269980656.43, depth = 109.99 meters Navigation: SAN - Offset is 30.18 meters : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202418.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202417.41,3649.0527,N,-12158.8793,W,1,03,00.5,124.3,M,-99.9,M,,*40 : Estimated North Bias at time = 968.99 : 8.63 : Estimated East Bias at time = 968.99 : -33.93 : Estimated Depth Bias at time = 968.99 : 0.56 : Estimated northing and easting = 4075136.93 : 590849.10 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202419.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202418.41,3649.0534,N,-12158.8797,W,1,03,00.5,125.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=110.00 horzlMode=4 horz=5.77 speedMode=1 speed=1.50 : TerrainNav update at nav time = 971.993414 : TerrainNav update at dvl time = 971.993414 : _navData-> (x,y) = (4075118.57, 590854.45) : _tercom->outstandingMeas() = 0 : Behavior waypoint_depth - Timed out! : LayeredControl::execute() -- (t = 1014.200522) Behavior waypoint_depth:-1 has changed to state Finished : WaypointDepth initialization: Begin waypoint control at t= 1014.20 (wplog) The current location (N,E) = 4075119.1 , 590854.3 (wplog) The next waypoint = 4075108.8 , 590789.7 (wplog) The bearing to the next w.p. is 260.9 Degrees. The distance to the next w.p. is 65.4 Meters. The slope to the next w.p. is -0.3059. The initial commanded depth is 170.0 meters. The final commanded depth is 190.0 meters. : LayeredControl::execute() -- (t = 1014.200522) Behavior waypoint_depth:-1 has changed to state Active : AshtechGps::processRecord() - $GPGGA,202420.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202419.41,3649.0542,N,-12158.8801,W,1,03,00.5,116.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=170.05 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : Estimated North Bias at time = 971.99 : 22.13 : Estimated East Bias at time = 971.99 : -8.00 : Estimated Depth Bias at time = 971.99 : 0.56 : Estimated northing and easting = 4075140.69 : 590846.45 : AshtechGps::processRecord() - $GPGGA,202421.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202420.41,3649.0550,N,-12158.8804,W,1,03,00.5,117.5,M,-99.9,M,,*43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=170.13 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202422.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202421.41,3649.0557,N,-12158.8807,W,1,03,00.5,120.1,M,-99.9,M,,*46 : TerrainNav update at nav time = 974.993208 : TerrainNav update at dvl time = 974.993208 : _navData-> (x,y) = (4075122.89, 590853.15) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202423.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202422.41,3649.0565,N,-12158.8809,W,1,03,00.5,120.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=170.18 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : Estimated North Bias at time = 974.99 : 21.47 : Estimated East Bias at time = 974.99 : -9.37 : Estimated Depth Bias at time = 974.99 : 0.56 : Estimated northing and easting = 4075144.36 : 590843.78 : AshtechGps::processRecord() - $GPGGA,202424.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202423.41,3649.0573,N,-12158.8811,W,1,03,00.5,120.0,M,-99.9,M,,*44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=170.22 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202425.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202424.41,3649.0581,N,-12158.8813,W,1,03,00.5,119.9,M,-99.9,M,,*4f : TerrainNav update at nav time = 977.993003 : TerrainNav update at dvl time = 977.993003 : _navData-> (x,y) = (4075127.29, 590852.14) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202426.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202425.41,3649.0589,N,-12158.8815,W,1,03,00.5,127.3,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=170.26 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : Estimated North Bias at time = 977.99 : 21.16 : Estimated East Bias at time = 977.99 : -10.46 : Estimated Depth Bias at time = 977.99 : 0.56 : Estimated northing and easting = 4075148.45 : 590841.68 : AshtechGps::processRecord() - $GPGGA,202427.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202426.41,3649.0597,N,-12158.8818,W,1,03,00.5,126.3,M,-99.9,M,,*47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=170.34 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202428.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202427.41,3649.0605,N,-12158.8821,W,1,03,00.5,120.9,M,-99.9,M,,*48 : TerrainNav update at nav time = 981.002797 : TerrainNav update at dvl time = 981.002797 : _navData-> (x,y) = (4075131.53, 590850.88) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=170.46 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202429.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202428.41,3649.0612,N,-12158.8824,W,1,03,00.5,119.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202430.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202429.41,3649.0619,N,-12158.8828,W,1,03,00.5,119.3,M,-99.9,M,,*42 : Estimated North Bias at time = 981.00 : 21.11 : Estimated East Bias at time = 981.00 : -10.76 : Estimated Depth Bias at time = 981.00 : 0.56 : Estimated northing and easting = 4075152.63 : 590840.12 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=170.65 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202431.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202430.41,3649.0625,N,-12158.8833,W,1,03,00.5,117.3,M,-99.9,M,,*41 : TerrainNav update at nav time = 984.002591 : TerrainNav update at dvl time = 984.002591 : _navData-> (x,y) = (4075134.97, 590848.84) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=170.91 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202432.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202431.41,3649.0630,N,-12158.8838,W,1,03,00.5,116.2,M,-99.9,M,,*4f : Estimated North Bias at time = 984.00 : 21.44 : Estimated East Bias at time = 984.00 : -10.57 : Estimated Depth Bias at time = 984.00 : 0.56 : Estimated northing and easting = 4075156.41 : 590838.27 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202433.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202432.41,3649.0634,N,-12158.8844,W,1,03,00.5,116.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=171.23 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202434.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202433.41,3649.0638,N,-12158.8851,W,1,03,00.5,113.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=171.59 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : TerrainNav update at nav time = 987.002386 : TerrainNav update at dvl time = 987.002386 : _navData-> (x,y) = (4075137.18, 590846.10) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202435.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202434.41,3649.0641,N,-12158.8857,W,1,03,00.5,112.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=172.00 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202436.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202435.41,3649.0642,N,-12158.8864,W,1,03,00.5,113.5,M,-99.9,M,,*45 : Estimated North Bias at time = 987.00 : 21.53 : Estimated East Bias at time = 987.00 : -10.62 : Estimated Depth Bias at time = 987.00 : 0.56 : Estimated northing and easting = 4075158.70 : 590835.48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202437.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202436.41,3649.0643,N,-12158.8871,W,1,03,00.5,116.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=172.42 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : TerrainNav update at nav time = 990.002180 : TerrainNav update at dvl time = 990.002180 : _navData-> (x,y) = (4075137.67, 590843.07) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202438.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202437.41,3649.0643,N,-12158.8877,W,1,03,00.5,116.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=172.82 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202439.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202438.41,3649.0641,N,-12158.8883,W,1,03,00.5,115.3,M,-99.9,M,,*42 : Estimated North Bias at time = 990.00 : 21.90 : Estimated East Bias at time = 990.00 : -10.68 : Estimated Depth Bias at time = 990.00 : 0.56 : Estimated northing and easting = 4075159.57 : 590832.39 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202440.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202439.41,3649.0638,N,-12158.8888,W,1,03,00.5,118.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=173.17 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : TerrainNav update at nav time = 993.001975 : TerrainNav update at dvl time = 993.001975 : _navData-> (x,y) = (4075136.48, 590840.72) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202441.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202440.41,3649.0635,N,-12158.8892,W,1,03,00.5,123.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=173.45 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202442.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202441.41,3649.0631,N,-12158.8896,W,1,03,00.5,126.8,M,-99.9,M,,*44 : Estimated North Bias at time = 993.00 : 22.87 : Estimated East Bias at time = 993.00 : -11.11 : Estimated Depth Bias at time = 993.00 : 0.56 : Estimated northing and easting = 4075159.35 : 590829.61 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=173.69 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202443.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202442.41,3649.0627,N,-12158.8899,W,1,03,00.5,126.8,M,-99.9,M,,*4f : TerrainNav update at nav time = 996.001769 : TerrainNav update at dvl time = 996.001769 : _navData-> (x,y) = (4075134.16, 590839.34) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202444.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202443.41,3649.0622,N,-12158.8901,W,1,03,00.5,127.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=173.91 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : Estimated North Bias at time = 996.00 : 23.74 : Estimated East Bias at time = 996.00 : -11.98 : Estimated Depth Bias at time = 996.00 : 0.56 : Estimated northing and easting = 4075157.89 : 590827.36 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202445.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202444.41,3649.0617,N,-12158.8904,W,1,03,00.5,125.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=174.15 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202446.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202445.41,3649.0612,N,-12158.8907,W,1,03,00.5,122.4,M,-99.9,M,,*40 : TerrainNav update at nav time = 999.001564 : TerrainNav update at dvl time = 999.001564 : _navData-> (x,y) = (4075131.37, 590838.09) : _tercom->outstandingMeas() = 0 : stat is 92342 : got a SAN packet : time:73543.828125 : lat:36.8179 lon:-121.9815 : slant range: 1.00 : SNR:17.700001 AGC:37 : AshtechGps::processRecord() - $GPGGA,202447.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202446.41,3649.0607,N,-12158.8910,W,1,03,00.5,122.4,M,-99.9,M,,*41 : Navigation: SAN - New position is lat 36.81794 lon -121.98147 decimal degrees Navigation: SAN - t = 1269980686.44, depth = 116.03 meters Navigation: SAN - Offset is 29.36 meters : LayeredControl _resolvedCommand - vertMode=2 vert=171.79 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : Estimated North Bias at time = 999.00 : 24.23 : Estimated East Bias at time = 999.00 : -12.59 : Estimated Depth Bias at time = 999.00 : 0.56 : Estimated northing and easting = 4075155.60 : 590825.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202448.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202447.41,3649.0759,N,-12158.8884,W,1,03,00.5,119.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=172.06 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202449.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202448.41,3649.0754,N,-12158.8888,W,1,03,00.5,117.9,M,-99.9,M,,*43 : TerrainNav update at nav time = 1002.001358 : TerrainNav update at dvl time = 1002.001358 : _navData-> (x,y) = (4075157.56, 590840.56) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=172.37 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202450.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202449.41,3649.0748,N,-12158.8892,W,1,03,00.5,116.2,M,-99.9,M,,*4e : Estimated North Bias at time = 1002.00 : -4.72 : Estimated East Bias at time = 1002.00 : -16.84 : Estimated Depth Bias at time = 1002.00 : 0.56 : Estimated northing and easting = 4075152.84 : 590823.71 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202451.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202450.41,3649.0743,N,-12158.8896,W,1,03,00.5,117.6,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=172.66 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202452.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202451.41,3649.0737,N,-12158.8899,W,1,03,00.5,122.6,M,-99.9,M,,*47 : TerrainNav update at nav time = 1005.001153 : TerrainNav update at dvl time = 1005.001153 : _navData-> (x,y) = (4075154.30, 590839.13) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=172.89 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202453.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202452.41,3649.0730,N,-12158.8900,W,1,03,00.5,126.4,M,-99.9,M,,*44 : Estimated North Bias at time = 1005.00 : -4.24 : Estimated East Bias at time = 1005.00 : -17.56 : Estimated Depth Bias at time = 1005.00 : 0.56 : Estimated northing and easting = 4075150.07 : 590821.57 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202454.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202453.41,3649.0724,N,-12158.8901,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=2 vert=173.00 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202455.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202454.41,3649.0718,N,-12158.8901,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=2 vert=173.05 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1008.000947 : TerrainNav update at dvl time = 1008.000947 : _navData-> (x,y) = (4075150.75, 590839.10) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1008.00 : -3.73 : Estimated East Bias at time = 1008.00 : -19.42 : Estimated Depth Bias at time = 1008.00 : 0.56 : Estimated northing and easting = 4075147.02 : 590819.68 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202456.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202455.41,3649.0711,N,-12158.8900,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=2 vert=173.06 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202457.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202456.41,3649.0705,N,-12158.8899,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,202458.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202457.41,3649.0698,N,-12158.8898,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=2 vert=173.06 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1011.000742 : TerrainNav update at dvl time = 1011.000742 : _navData-> (x,y) = (4075147.21, 590839.64) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1011.00 : -3.68 : Estimated East Bias at time = 1011.00 : -20.79 : Estimated Depth Bias at time = 1011.00 : 0.56 : Estimated northing and easting = 4075143.52 : 590818.85 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202459.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202458.41,3649.0692,N,-12158.8897,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=2 vert=173.05 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202500.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202459.41,3649.0685,N,-12158.8895,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,202501.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202500.41,3649.0678,N,-12158.8894,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=2 vert=173.06 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1014.000536 : TerrainNav update at dvl time = 1014.000536 : _navData-> (x,y) = (4075143.51, 590840.22) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1014.00 : -3.75 : Estimated East Bias at time = 1014.00 : -21.74 : Estimated Depth Bias at time = 1014.00 : 0.56 : Estimated northing and easting = 4075139.76 : 590818.48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202502.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202501.41,3649.0672,N,-12158.8894,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=2 vert=173.11 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202503.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202502.41,3649.0665,N,-12158.8893,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=2 vert=173.19 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202504.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202503.41,3649.0658,N,-12158.8893,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : TerrainNav update at nav time = 1017.000331 : TerrainNav update at dvl time = 1017.000331 : _navData-> (x,y) = (4075139.78, 590840.24) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1017.00 : -3.57 : Estimated East Bias at time = 1017.00 : -22.31 : Estimated Depth Bias at time = 1017.00 : 0.56 : Estimated northing and easting = 4075136.21 : 590817.93 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202505.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202504.41,3649.0652,N,-12158.8894,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=2 vert=173.31 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202506.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202505.41,3649.0645,N,-12158.8895,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=2 vert=173.48 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202507.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202506.41,3649.0638,N,-12158.8897,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : TerrainNav update at nav time = 1020.000125 : TerrainNav update at dvl time = 1020.000125 : _navData-> (x,y) = (4075136.01, 590839.66) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202508.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202507.41,3649.0631,N,-12158.8899,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=2 vert=173.68 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202509.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202508.41,3649.0624,N,-12158.8901,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : Estimated North Bias at time = 1020.00 : -3.11 : Estimated East Bias at time = 1020.00 : -22.36 : Estimated Depth Bias at time = 1020.00 : 0.56 : Estimated northing and easting = 4075132.90 : 590817.31 : LayeredControl _resolvedCommand - vertMode=2 vert=173.94 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202510.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202509.41,3649.0618,N,-12158.8905,W,1,03,00.5,108.8,M,-99.9,M,,*45 : TerrainNav update at nav time = 1022.999920 : TerrainNav update at dvl time = 1022.999920 : _navData-> (x,y) = (4075132.26, 590838.35) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=174.27 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202511.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202510.41,3649.0611,N,-12158.8909,W,1,03,00.5,106.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202512.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202511.41,3649.0605,N,-12158.8913,W,1,03,00.5,104.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=174.64 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : Estimated North Bias at time = 1023.00 : -3.07 : Estimated East Bias at time = 1023.00 : -21.60 : Estimated Depth Bias at time = 1023.00 : 0.57 : Estimated northing and easting = 4075129.19 : 590816.75 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202513.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202512.41,3649.0599,N,-12158.8919,W,1,03,00.5,103.4,M,-99.9,M,,*4f : TerrainNav update at nav time = 1025.999714 : TerrainNav update at dvl time = 1025.999714 : _navData-> (x,y) = (4075128.79, 590836.14) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=175.07 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202514.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202513.41,3649.0593,N,-12158.8924,W,1,03,00.5,102.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202515.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202514.41,3649.0587,N,-12158.8931,W,1,03,00.5,102.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=175.53 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : Estimated North Bias at time = 1026.00 : -3.10 : Estimated East Bias at time = 1026.00 : -20.50 : Estimated Depth Bias at time = 1026.00 : 0.57 : Estimated northing and easting = 4075125.69 : 590815.64 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202516.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202515.41,3649.0581,N,-12158.8937,W,1,03,00.5,102.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=176.00 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1028.999509 : TerrainNav update at dvl time = 1028.999509 : _navData-> (x,y) = (4075125.53, 590833.38) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202517.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202516.41,3649.0575,N,-12158.8944,W,1,03,00.5,102.2,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=176.49 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : stat is 92342 : got a SAN packet : time:73574.960938 : lat:36.8177 lon:-121.9816 : slant range: 1.00 : SNR:17.600000 AGC:42 : AshtechGps::processRecord() - $GPGGA,202518.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202517.41,3649.0570,N,-12158.8950,W,1,03,00.5,098.9,M,-99.9,M,,*4e : Navigation: SAN - New position is lat 36.81771 lon -121.98159 decimal degrees Navigation: SAN - t = 1269980717.44, depth = 133.21 meters Navigation: SAN - Offset is 10.50 meters : Estimated North Bias at time = 1029.00 : -3.25 : Estimated East Bias at time = 1029.00 : -19.95 : Estimated Depth Bias at time = 1029.00 : 0.57 : Estimated northing and easting = 4075122.28 : 590813.43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202519.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202518.41,3649.0621,N,-12158.8961,W,1,03,00.5,098.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=176.70 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1031.999303 : TerrainNav update at dvl time = 1031.999303 : _navData-> (x,y) = (4075133.00, 590829.63) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202520.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202519.41,3649.0616,N,-12158.8968,W,1,03,00.5,098.7,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=177.20 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202521.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202520.41,3649.0610,N,-12158.8975,W,1,03,00.5,099.5,M,-99.9,M,,*45 : Estimated North Bias at time = 1032.00 : -13.83 : Estimated East Bias at time = 1032.00 : -18.29 : Estimated Depth Bias at time = 1032.00 : 0.57 : Estimated northing and easting = 4075119.17 : 590811.35 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202522.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202521.41,3649.0604,N,-12158.8982,W,1,03,00.5,102.5,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=177.67 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1034.999098 : TerrainNav update at dvl time = 1034.999098 : _navData-> (x,y) = (4075129.71, 590826.77) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202523.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202522.41,3649.0598,N,-12158.8987,W,1,03,00.5,102.5,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=178.09 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202524.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202523.41,3649.0592,N,-12158.8993,W,1,03,00.5,102.7,M,-99.9,M,,*46 : Estimated North Bias at time = 1035.00 : -14.79 : Estimated East Bias at time = 1035.00 : -16.90 : Estimated Depth Bias at time = 1035.00 : 0.57 : Estimated northing and easting = 4075114.92 : 590809.87 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=178.51 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202525.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202524.41,3649.0585,N,-12158.8998,W,1,03,00.5,100.9,M,-99.9,M,,*40 : TerrainNav update at nav time = 1037.998892 : TerrainNav update at dvl time = 1037.998892 : _navData-> (x,y) = (4075126.16, 590824.40) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202526.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202525.41,3649.0579,N,-12158.9003,W,1,03,00.5,098.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=178.92 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202527.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202526.41,3649.0573,N,-12158.9009,W,1,03,00.5,097.2,M,-99.9,M,,*4f : Estimated North Bias at time = 1038.00 : -14.83 : Estimated East Bias at time = 1038.00 : -16.56 : Estimated Depth Bias at time = 1038.00 : 0.57 : Estimated northing and easting = 4075111.33 : 590807.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=179.37 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202528.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202527.41,3649.0567,N,-12158.9015,W,1,03,00.5,097.2,M,-99.9,M,,*46 : TerrainNav update at nav time = 1040.998687 : TerrainNav update at dvl time = 1040.998687 : _navData-> (x,y) = (4075122.81, 590821.74) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202529.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202528.41,3649.0561,N,-12158.9022,W,1,03,00.5,096.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=179.85 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202530.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202529.41,3649.0556,N,-12158.9029,W,1,03,00.5,096.2,M,-99.9,M,,*44 : Estimated North Bias at time = 1041.00 : -14.90 : Estimated East Bias at time = 1041.00 : -15.14 : Estimated Depth Bias at time = 1041.00 : 0.57 : Estimated northing and easting = 4075107.90 : 590806.60 : LayeredControl _resolvedCommand - vertMode=2 vert=180.33 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202531.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202530.41,3649.0551,N,-12158.9035,W,1,03,00.5,095.5,M,-99.9,M,,*42 : TerrainNav update at nav time = 1043.998481 : TerrainNav update at dvl time = 1043.998481 : _navData-> (x,y) = (4075119.88, 590818.77) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=180.83 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202532.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202531.41,3649.0546,N,-12158.9042,W,1,03,00.5,096.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202533.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202532.41,3649.0541,N,-12158.9050,W,1,03,00.5,099.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=181.34 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : Estimated North Bias at time = 1044.00 : -14.91 : Estimated East Bias at time = 1044.00 : -14.53 : Estimated Depth Bias at time = 1044.00 : 0.58 : Estimated northing and easting = 4075104.97 : 590804.24 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202534.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202533.41,3649.0536,N,-12158.9057,W,1,03,00.5,094.2,M,-99.9,M,,*42 : TerrainNav update at nav time = 1046.998276 : TerrainNav update at dvl time = 1046.998276 : _navData-> (x,y) = (4075117.23, 590815.63) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=181.83 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202535.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202534.41,3649.0532,N,-12158.9064,W,1,03,00.5,096.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202536.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202535.41,3649.0528,N,-12158.9071,W,1,03,00.5,095.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=182.34 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : Estimated North Bias at time = 1047.00 : -15.22 : Estimated East Bias at time = 1047.00 : -13.65 : Estimated Depth Bias at time = 1047.00 : 0.58 : Estimated northing and easting = 4075102.02 : 590801.98 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202537.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202536.41,3649.0524,N,-12158.9078,W,1,03,00.5,098.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=182.85 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1049.998070 : TerrainNav update at dvl time = 1049.998070 : _navData-> (x,y) = (4075114.83, 590812.42) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202538.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202537.41,3649.0519,N,-12158.9086,W,1,03,00.5,097.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=183.37 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202539.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202538.41,3649.0515,N,-12158.9093,W,1,03,00.5,097.6,M,-99.9,M,,*47 : Estimated North Bias at time = 1050.00 : -15.16 : Estimated East Bias at time = 1050.00 : -12.87 : Estimated Depth Bias at time = 1050.00 : 0.58 : Estimated northing and easting = 4075099.67 : 590799.55 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202540.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202539.41,3649.0511,N,-12158.9101,W,1,03,00.5,097.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=183.90 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1052.997865 : TerrainNav update at dvl time = 1052.997865 : _navData-> (x,y) = (4075112.51, 590809.06) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202541.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202540.41,3649.0507,N,-12158.9109,W,1,03,00.5,096.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=184.44 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202542.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202541.41,3649.0503,N,-12158.9116,W,1,03,00.5,095.0,M,-99.9,M,,*46 : Estimated North Bias at time = 1053.00 : -15.22 : Estimated East Bias at time = 1053.00 : -12.00 : Estimated Depth Bias at time = 1053.00 : 0.59 : Estimated northing and easting = 4075097.29 : 590797.06 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202543.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202542.41,3649.0500,N,-12158.9125,W,1,03,00.5,093.8,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1055.997659 : TerrainNav update at dvl time = 1055.997659 : _navData-> (x,y) = (4075110.40, 590805.48) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202544.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202543.41,3649.0496,N,-12158.9133,W,1,03,00.5,093.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=185.56 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202545.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202544.41,3649.0493,N,-12158.9141,W,1,03,00.5,092.3,M,-99.9,M,,*4d : Estimated North Bias at time = 1056.00 : -15.57 : Estimated East Bias at time = 1056.00 : -10.67 : Estimated Depth Bias at time = 1056.00 : 0.59 : Estimated northing and easting = 4075094.83 : 590794.81 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=186.13 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202546.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202545.41,3649.0490,N,-12158.9150,W,1,03,00.5,092.5,M,-99.9,M,,*49 : TerrainNav update at nav time = 1058.997454 : TerrainNav update at dvl time = 1058.997454 : _navData-> (x,y) = (4075108.65, 590801.72) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202547.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202546.41,3649.0487,N,-12158.9159,W,1,03,00.5,091.2,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=186.71 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202548.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202547.41,3649.0485,N,-12158.9167,W,1,03,00.5,094.7,M,-99.9,M,,*4f : Estimated North Bias at time = 1059.00 : -15.19 : Estimated East Bias at time = 1059.00 : -9.66 : Estimated Depth Bias at time = 1059.00 : 0.61 : Estimated northing and easting = 4075093.47 : 590792.06 : LayeredControl _resolvedCommand - vertMode=2 vert=187.28 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202549.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202548.41,3649.0482,N,-12158.9176,W,1,03,00.5,091.3,M,-99.9,M,,*46 : TerrainNav update at nav time = 1061.997248 : TerrainNav update at dvl time = 1061.997248 : _navData-> (x,y) = (4075107.23, 590797.84) : _tercom->outstandingMeas() = 0 : stat is 92342 : got a SAN packet : time:73607.023438 : lat:36.8172 lon:-121.9819 : slant range: 1.00 : SNR:13.600000 AGC:64 : AshtechGps::processRecord() - $GPGGA,202550.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202549.41,3649.0480,N,-12158.9185,W,1,03,00.5,093.5,M,-99.9,M,,*4d : Navigation: SAN - New position is lat 36.81720 lon -121.98188 decimal degrees Navigation: SAN - t = 1269980749.44, depth = 149.91 meters Navigation: SAN - Offset is 30.77 meters : LayeredControl _resolvedCommand - vertMode=2 vert=186.66 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202551.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202550.41,3649.0318,N,-12158.9137,W,1,03,00.5,093.5,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=187.24 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : Estimated North Bias at time = 1062.00 : -15.61 : Estimated East Bias at time = 1062.00 : -8.65 : Estimated Depth Bias at time = 1062.00 : 0.63 : Estimated northing and easting = 4075091.62 : 590789.19 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202552.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202551.41,3649.0316,N,-12158.9146,W,1,03,00.5,091.3,M,-99.9,M,,*47 : TerrainNav update at nav time = 1064.997043 : TerrainNav update at dvl time = 1064.997043 : _navData-> (x,y) = (4075076.63, 590802.61) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=187.83 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202553.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202552.41,3649.0314,N,-12158.9155,W,1,03,00.5,093.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202554.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202553.41,3649.0314,N,-12158.9164,W,1,03,00.5,089.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=188.40 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : Estimated North Bias at time = 1065.00 : 12.91 : Estimated East Bias at time = 1065.00 : -16.99 : Estimated Depth Bias at time = 1065.00 : 0.63 : Estimated northing and easting = 4075089.54 : 590785.62 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202555.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202554.41,3649.0314,N,-12158.9173,W,1,03,00.5,091.2,M,-99.9,M,,*47 : TerrainNav update at nav time = 1067.996837 : TerrainNav update at dvl time = 1067.996837 : _navData-> (x,y) = (4075076.51, 590798.58) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=188.96 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202556.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202555.41,3649.0315,N,-12158.9182,W,1,03,00.5,090.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202557.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202556.41,3649.0317,N,-12158.9190,W,1,03,00.5,091.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=189.46 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : Estimated North Bias at time = 1068.00 : 11.38 : Estimated East Bias at time = 1068.00 : -16.73 : Estimated Depth Bias at time = 1068.00 : 0.64 : Estimated northing and easting = 4075087.89 : 590781.85 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202558.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202557.41,3649.0320,N,-12158.9198,W,1,03,00.5,092.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=189.90 horzlMode=4 horz=4.55 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1070.996632 : TerrainNav update at dvl time = 1070.996632 : _navData-> (x,y) = (4075077.80, 590794.99) : _tercom->outstandingMeas() = 0 : WaypointDepth has set the state to finished. : Waypoint (4075108.8, 590789.7), reached at t = 1113.19 (wplog) : Vehicle Position error is (30.7, -4.9) : LayeredControl::execute() -- (t = 1113.193741) Behavior waypoint_depth:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 1113.19 (wplog) The current location (N,E) = 4075078.1 , 590794.6 (wplog) The next waypoint = 4074955.6 , 590661.2 (wplog) The bearing to the next w.p. is 227.5 Degrees. : LayeredControl::execute() -- (t = 1113.193741) Behavior waypoint_homing:-1 has changed to state Active : AshtechGps::processRecord() - $GPGGA,202559.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202558.41,3649.0323,N,-12158.9205,W,1,03,00.5,091.9,M,-99.9,M,,*46 : SonardyneDriver:: New transponder interrogation address is POS V4,5 : SonardyneDriver::Start : LayeredControl _resolvedCommand - vertMode=2 vert=232.21 horzlMode=3 horz=3.97 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202600.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202559.41,3649.0327,N,-12158.9212,W,1,03,00.5,093.0,M,-99.9,M,,*4e : Estimated North Bias at time = 1071.00 : 9.83 : Estimated East Bias at time = 1071.00 : -17.70 : Estimated Depth Bias at time = 1071.00 : 0.64 : Estimated northing and easting = 4075087.64 : 590777.29 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202601.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202600.41,3649.0331,N,-12158.9217,W,1,03,00.5,094.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=234.01 horzlMode=3 horz=3.97 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1073.996426 : TerrainNav update at dvl time = 1073.996426 : _navData-> (x,y) = (4075079.99, 590792.36) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202602.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202601.41,3649.0335,N,-12158.9222,W,1,03,00.5,092.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=232.27 horzlMode=3 horz=3.97 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202603.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202602.41,3649.0340,N,-12158.9226,W,1,03,00.5,091.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202604.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202603.41,3649.0344,N,-12158.9230,W,1,03,00.5,092.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=232.69 horzlMode=3 horz=3.97 speedMode=1 speed=1.00 : Estimated North Bias at time = 1074.00 : 9.69 : Estimated East Bias at time = 1074.00 : -20.33 : Estimated Depth Bias at time = 1074.00 : 0.60 : Estimated northing and easting = 4075089.68 : 590772.03 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202605.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202604.41,3649.0348,N,-12158.9233,W,1,03,00.5,092.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=231.95 horzlMode=3 horz=3.97 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202606.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202605.41,3649.0352,N,-12158.9237,W,1,03,00.5,090.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=231.88 horzlMode=3 horz=3.97 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202607.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202606.41,3649.0357,N,-12158.9240,W,1,03,00.5,090.2,M,-99.9,M,,*46 : TerrainNav update at nav time = 1079.996015 : TerrainNav update at dvl time = 1079.996015 : _navData-> (x,y) = (4075084.63, 590789.10) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202608.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202607.40,3649.0361,N,-12158.9243,W,1,03,00.5,089.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=229.13 horzlMode=2 horz=3.97 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202609.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202608.40,3649.0365,N,-12158.9246,W,1,03,00.5,087.1,M,-99.9,M,,*4b : Estimated North Bias at time = 1080.00 : 6.71 : Estimated East Bias at time = 1080.00 : -22.61 : Estimated Depth Bias at time = 1080.00 : 0.62 : Estimated northing and easting = 4075091.34 : 590766.49 : LayeredControl _resolvedCommand - vertMode=2 vert=232.31 horzlMode=3 horz=3.97 speedMode=1 speed=1.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202610.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202609.40,3649.0368,N,-12158.9250,W,1,03,00.5,089.8,M,-99.9,M,,*47 : WaypointHoming:: Beacon is in the Usbl Fov at t = 1124.8 with dtw = 181.80 : TerrainNav update at nav time = 1082.995810 : TerrainNav update at dvl time = 1082.995810 : _navData-> (x,y) = (4075086.73, 590787.56) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202611.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202610.40,3649.0372,N,-12158.9253,W,1,03,00.5,090.8,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=233.67 horzlMode=3 horz=3.97 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202612.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202611.40,3649.0375,N,-12158.9257,W,1,03,00.5,090.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=233.89 horzlMode=3 horz=3.97 speedMode=1 speed=1.00 : Estimated North Bias at time = 1083.00 : 6.42 : Estimated East Bias at time = 1083.00 : -22.65 : Estimated Depth Bias at time = 1083.00 : 0.63 : Estimated northing and easting = 4075093.15 : 590764.92 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202613.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202612.40,3649.0378,N,-12158.9261,W,1,03,00.5,090.8,M,-99.9,M,,*46 : WaypointHoming: The Usbl has aquired the transponder at t = 1127.79 Seconds. : The vehicle position is (4075088.5, 590785.8) : TerrainNav update at nav time = 1085.995604 : TerrainNav update at dvl time = 1085.995604 : _navData-> (x,y) = (4075088.46, 590785.80) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=234.56 horzlMode=2 horz=3.97 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202614.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202613.40,3649.0381,N,-12158.9265,W,1,03,00.5,091.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202615.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202614.40,3649.0383,N,-12158.9270,W,1,03,00.5,091.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=235.27 horzlMode=2 horz=3.97 speedMode=1 speed=1.00 : Estimated North Bias at time = 1086.00 : 6.24 : Estimated East Bias at time = 1086.00 : -22.66 : Estimated Depth Bias at time = 1086.00 : 0.63 : Estimated northing and easting = 4075094.70 : 590763.13 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202616.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202615.40,3649.0385,N,-12158.9274,W,1,03,00.5,092.2,M,-99.9,M,,*4f : TerrainNav update at nav time = 1088.995399 : TerrainNav update at dvl time = 1088.995399 : _navData-> (x,y) = (4075089.60, 590783.81) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=236.23 horzlMode=2 horz=3.97 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202617.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202616.40,3649.0387,N,-12158.9279,W,1,03,00.5,092.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202618.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202617.40,3649.0388,N,-12158.9283,W,1,03,00.5,094.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=238.26 horzlMode=2 horz=3.97 speedMode=1 speed=1.00 : Estimated North Bias at time = 1089.00 : 6.30 : Estimated East Bias at time = 1089.00 : -22.72 : Estimated Depth Bias at time = 1089.00 : 0.63 : Estimated northing and easting = 4075095.90 : 590761.09 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202619.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202618.40,3649.0389,N,-12158.9288,W,1,03,00.5,094.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=236.02 horzlMode=2 horz=3.97 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1091.995193 : TerrainNav update at dvl time = 1091.995193 : _navData-> (x,y) = (4075090.02, 590781.73) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202620.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202619.40,3649.0389,N,-12158.9293,W,1,03,00.5,091.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=239.73 horzlMode=2 horz=3.97 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202621.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202620.40,3649.0388,N,-12158.9297,W,1,03,00.5,095.2,M,-99.9,M,,*4e : Estimated North Bias at time = 1092.00 : 6.24 : Estimated East Bias at time = 1092.00 : -22.53 : Estimated Depth Bias at time = 1092.00 : 0.63 : Estimated northing and easting = 4075096.27 : 590759.20 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202622.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202621.40,3649.0387,N,-12158.9301,W,1,03,00.5,095.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=241.05 horzlMode=2 horz=3.97 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1094.994988 : TerrainNav update at dvl time = 1094.994988 : _navData-> (x,y) = (4075089.64, 590779.92) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202623.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202622.40,3649.0386,N,-12158.9305,W,1,03,00.5,096.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=242.28 horzlMode=2 horz=3.97 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202624.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202623.40,3649.0385,N,-12158.9308,W,1,03,00.5,097.4,M,-99.9,M,,*43 : Estimated North Bias at time = 1094.99 : 6.45 : Estimated East Bias at time = 1094.99 : -22.98 : Estimated Depth Bias at time = 1094.99 : 0.63 : Estimated northing and easting = 4075096.08 : 590756.94 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202625.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202624.40,3649.0383,N,-12158.9312,W,1,03,00.5,094.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=239.99 horzlMode=2 horz=3.97 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1097.994782 : TerrainNav update at dvl time = 1097.994782 : _navData-> (x,y) = (4075088.68, 590778.31) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202626.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202625.40,3649.0381,N,-12158.9315,W,1,03,00.5,100.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=243.18 horzlMode=2 horz=3.97 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202626.40,3649.0379,N,-12158.9319,W,1,03,00.5,097.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202627.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1097.99 : 6.66 : Estimated East Bias at time = 1097.99 : -24.04 : Estimated Depth Bias at time = 1097.99 : 0.62 : Estimated northing and easting = 4075095.34 : 590754.27 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=242.28 horzlMode=2 horz=3.97 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202628.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202627.40,3649.0376,N,-12158.9322,W,1,03,00.5,096.7,M,-99.9,M,,*41 : TerrainNav update at nav time = 1100.994577 : TerrainNav update at dvl time = 1100.994577 : _navData-> (x,y) = (4075087.46, 590776.84) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202629.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202628.40,3649.0374,N,-12158.9325,W,1,03,00.5,097.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=243.24 horzlMode=2 horz=3.97 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202630.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202629.40,3649.0371,N,-12158.9328,W,1,03,00.5,097.7,M,-99.9,M,,*43 : Estimated North Bias at time = 1100.99 : 6.85 : Estimated East Bias at time = 1100.99 : -24.53 : Estimated Depth Bias at time = 1100.99 : 0.61 : Estimated northing and easting = 4075094.30 : 590752.31 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=243.76 horzlMode=2 horz=3.97 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202631.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202630.41,3649.0368,N,-12158.9331,W,1,03,00.5,097.7,M,-99.9,M,,*4a : TerrainNav update at nav time = 1103.994371 : TerrainNav update at dvl time = 1103.994371 : _navData-> (x,y) = (4075085.85, 590775.48) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202632.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202631.41,3649.0365,N,-12158.9334,W,1,03,00.5,097.7,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=244.07 horzlMode=2 horz=3.97 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202633.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202632.41,3649.0362,N,-12158.9338,W,1,03,00.5,097.8,M,-99.9,M,,*44 : Estimated North Bias at time = 1103.99 : 6.92 : Estimated East Bias at time = 1103.99 : -25.03 : Estimated Depth Bias at time = 1103.99 : 0.61 : Estimated northing and easting = 4075092.77 : 590750.45 : LayeredControl _resolvedCommand - vertMode=2 vert=244.43 horzlMode=2 horz=3.97 speedMode=1 speed=1.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202634.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202633.41,3649.0359,N,-12158.9341,W,1,03,00.5,097.8,M,-99.9,M,,*43 : TerrainNav update at nav time = 1106.994166 : TerrainNav update at dvl time = 1106.994166 : _navData-> (x,y) = (4075084.19, 590774.18) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=244.72 horzlMode=2 horz=3.97 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202635.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202634.41,3649.0356,N,-12158.9343,W,1,03,00.5,097.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202636.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202635.41,3649.0353,N,-12158.9346,W,1,03,00.5,097.9,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=245.08 horzlMode=2 horz=3.97 speedMode=1 speed=1.00 : Estimated North Bias at time = 1106.99 : 7.00 : Estimated East Bias at time = 1106.99 : -25.55 : Estimated Depth Bias at time = 1106.99 : 0.61 : Estimated northing and easting = 4075091.19 : 590748.63 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202637.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202636.41,3649.0349,N,-12158.9349,W,1,03,00.5,097.9,M,-99.9,M,,*4e : TerrainNav update at nav time = 1109.993960 : TerrainNav update at dvl time = 1109.993960 : _navData-> (x,y) = (4075082.30, 590772.87) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=245.35 horzlMode=2 horz=3.97 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202638.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202637.41,3649.0346,N,-12158.9352,W,1,03,00.5,097.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202639.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202638.41,3649.0343,N,-12158.9355,W,1,03,00.5,097.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=245.69 horzlMode=2 horz=3.97 speedMode=1 speed=1.00 : WaypointHoming - Offset (dn de ) = (0.0 0.0), t = 1153.60 r = 195.2m. : Estimated North Bias at time = 1109.99 : 7.19 : Estimated East Bias at time = 1109.99 : -25.75 : Estimated Depth Bias at time = 1109.99 : 0.61 : Estimated northing and easting = 4075089.49 : 590747.11 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202640.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202639.41,3649.0339,N,-12158.9358,W,1,03,00.5,097.9,M,-99.9,M,,*46 : WaypointHoming - Offset (dn de ) = (31.0 6.6), t = 1154.80 r = 194.1m. : LayeredControl _resolvedCommand - vertMode=2 vert=245.98 horzlMode=2 horz=3.79 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1112.993755 : TerrainNav update at dvl time = 1112.993755 : _navData-> (x,y) = (4075080.41, 590771.56) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202641.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202640.41,3649.0336,N,-12158.9361,W,1,03,00.5,097.8,M,-99.9,M,,*4c : WaypointHoming - Offset (dn de ) = (31.3 5.7), t = 1156.00 r = 193.1m. : LayeredControl _resolvedCommand - vertMode=2 vert=246.31 horzlMode=2 horz=3.78 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202642.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202641.41,3649.0332,N,-12158.9364,W,1,03,00.5,097.8,M,-99.9,M,,*4c : Estimated North Bias at time = 1112.99 : 7.37 : Estimated East Bias at time = 1112.99 : -26.37 : Estimated Depth Bias at time = 1112.99 : 0.61 : Estimated northing and easting = 4075087.78 : 590745.20 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming - Offset (dn de ) = (31.4 5.3), t = 1157.20 r = 192.2m. : AshtechGps::processRecord() - $GPGGA,202643.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202642.41,3649.0329,N,-12158.9367,W,1,03,00.5,097.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=246.55 horzlMode=2 horz=3.78 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1115.993549 : TerrainNav update at dvl time = 1115.993549 : _navData-> (x,y) = (4075078.47, 590770.22) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202644.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202643.41,3649.0325,N,-12158.9370,W,1,03,00.5,097.7,M,-99.9,M,,*42 : WaypointHoming - Offset (dn de ) = (32.0 4.4), t = 1158.40 r = 191.2m. : LayeredControl _resolvedCommand - vertMode=2 vert=246.83 horzlMode=2 horz=3.77 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202645.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202644.41,3649.0322,N,-12158.9373,W,1,03,00.5,097.7,M,-99.9,M,,*41 : WaypointHoming - Offset (dn de ) = (32.2 4.0), t = 1159.60 r = 190.2m. : Estimated North Bias at time = 1115.99 : 7.74 : Estimated East Bias at time = 1115.99 : -26.75 : Estimated Depth Bias at time = 1115.99 : 0.62 : Estimated northing and easting = 4075086.21 : 590743.47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202646.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202645.41,3649.0318,N,-12158.9376,W,1,03,00.5,097.7,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=247.17 horzlMode=2 horz=3.77 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1118.993344 : TerrainNav update at dvl time = 1118.993344 : _navData-> (x,y) = (4075076.42, 590768.94) : _tercom->outstandingMeas() = 0 : WaypointHoming - Offset (dn de ) = (32.3 3.6), t = 1161.00 r = 189.3m. : AshtechGps::processRecord() - $GPGGA,202647.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202646.41,3649.0314,N,-12158.9379,W,1,03,00.5,097.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=247.45 horzlMode=2 horz=3.77 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202648.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202647.41,3649.0311,N,-12158.9382,W,1,03,00.5,097.6,M,-99.9,M,,*4d : Estimated North Bias at time = 1118.99 : 8.06 : Estimated East Bias at time = 1118.99 : -27.23 : Estimated Depth Bias at time = 1118.99 : 0.62 : Estimated northing and easting = 4075084.48 : 590741.71 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=247.83 horzlMode=2 horz=3.77 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202649.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202648.41,3649.0307,N,-12158.9385,W,1,03,00.5,097.6,M,-99.9,M,,*42 : TerrainNav update at nav time = 1121.993138 : TerrainNav update at dvl time = 1121.993138 : _navData-> (x,y) = (4075074.43, 590767.60) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202650.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202649.41,3649.0304,N,-12158.9388,W,1,03,00.5,097.5,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=247.28 horzlMode=2 horz=3.77 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202651.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202650.41,3649.0300,N,-12158.9391,W,1,03,00.5,096.7,M,-99.9,M,,*49 : Estimated North Bias at time = 1121.99 : 8.28 : Estimated East Bias at time = 1121.99 : -27.61 : Estimated Depth Bias at time = 1121.99 : 0.62 : Estimated northing and easting = 4075082.71 : 590739.99 : WaypointHoming - Offset (dn de ) = (32.4 3.6), t = 1165.80 r = 185.6m. : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=248.31 horzlMode=2 horz=3.77 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202652.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202651.41,3649.0296,N,-12158.9394,W,1,03,00.5,097.1,M,-99.9,M,,*44 : TerrainNav update at nav time = 1124.992933 : TerrainNav update at dvl time = 1124.992933 : _navData-> (x,y) = (4075072.37, 590766.32) : _tercom->outstandingMeas() = 0 : WaypointHoming - Offset (dn de ) = (32.4 3.6), t = 1167.00 r = 184.4m. : AshtechGps::processRecord() - $GPGGA,202653.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202652.41,3649.0293,N,-12158.9397,W,1,03,00.5,095.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=246.93 horzlMode=2 horz=3.77 speedMode=1 speed=1.00 : WaypointHoming - Offset (dn de ) = (32.4 3.6), t = 1168.20 r = 183.2m. : AshtechGps::processRecord() - $GPGGA,202654.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202653.41,3649.0289,N,-12158.9400,W,1,03,00.5,095.9,M,-99.9,M,,*48 : Estimated North Bias at time = 1124.99 : 8.09 : Estimated East Bias at time = 1124.99 : -27.57 : Estimated Depth Bias at time = 1124.99 : 0.62 : Estimated northing and easting = 4075080.46 : 590738.75 : LayeredControl _resolvedCommand - vertMode=2 vert=247.85 horzlMode=2 horz=3.77 speedMode=1 speed=1.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202655.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202654.41,3649.0285,N,-12158.9403,W,1,03,00.5,095.9,M,-99.9,M,,*40 : WaypointHoming - Offset (dn de ) = (32.3 3.8), t = 1169.40 r = 182.2m. : TerrainNav update at nav time = 1128.002727 : TerrainNav update at dvl time = 1128.002727 : _navData-> (x,y) = (4075070.28, 590765.06) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=246.91 horzlMode=2 horz=3.77 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202656.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202655.41,3649.0281,N,-12158.9406,W,1,03,00.5,094.6,M,-99.9,M,,*4e : WaypointHoming - Offset (dn de ) = (32.3 3.8), t = 1170.60 r = 181.1m. : AshtechGps::processRecord() - $GPGGA,202657.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202656.41,3649.0277,N,-12158.9409,W,1,03,00.5,096.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=248.71 horzlMode=2 horz=3.77 speedMode=1 speed=1.00 : Estimated North Bias at time = 1128.00 : 8.05 : Estimated East Bias at time = 1128.00 : -27.46 : Estimated Depth Bias at time = 1128.00 : 0.63 : Estimated northing and easting = 4075078.33 : 590737.60 : WaypointHoming - Offset (dn de ) = (32.1 4.0), t = 1171.80 r = 180.0m. : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202658.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202657.41,3649.0273,N,-12158.9412,W,1,03,00.5,094.8,M,-99.9,M,,*4a : TerrainNav update at nav time = 1131.002521 : TerrainNav update at dvl time = 1131.002521 : _navData-> (x,y) = (4075068.07, 590763.74) : _tercom->outstandingMeas() = 0 : WaypointHoming - Offset (dn de ) = (32.0 4.1), t = 1173.00 r = 179.1m. : LayeredControl _resolvedCommand - vertMode=2 vert=247.88 horzlMode=2 horz=3.78 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202659.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202658.41,3649.0269,N,-12158.9415,W,1,03,00.5,094.8,M,-99.9,M,,*49 : WaypointHoming - Offset (dn de ) = (31.8 4.2), t = 1174.20 r = 177.9m. : AshtechGps::processRecord() - $GPGGA,202700.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202659.41,3649.0266,N,-12158.9418,W,1,03,00.5,094.7,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=248.21 horzlMode=2 horz=3.78 speedMode=1 speed=1.00 : Estimated North Bias at time = 1131.00 : 7.97 : Estimated East Bias at time = 1131.00 : -27.26 : Estimated Depth Bias at time = 1131.00 : 0.63 : Estimated northing and easting = 4075076.04 : 590736.48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming - Offset (dn de ) = (31.8 4.3), t = 1175.20 r = 176.9m. : AshtechGps::processRecord() - $GPGGA,202701.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202700.41,3649.0262,N,-12158.9421,W,1,03,00.5,094.7,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=248.65 horzlMode=2 horz=3.78 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1134.002316 : TerrainNav update at dvl time = 1134.002316 : _navData-> (x,y) = (4075066.02, 590762.39) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202702.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202701.41,3649.0258,N,-12158.9424,W,1,03,00.5,094.8,M,-99.9,M,,*44 : WaypointHoming - Offset (dn de ) = (31.6 4.3), t = 1176.40 r = 175.9m. : LayeredControl _resolvedCommand - vertMode=2 vert=249.06 horzlMode=2 horz=3.78 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202703.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202702.41,3649.0255,N,-12158.9427,W,1,03,00.5,094.8,M,-99.9,M,,*49 : WaypointHoming - Offset (dn de ) = (31.3 4.4), t = 1177.60 r = 174.8m. : Estimated North Bias at time = 1134.00 : 7.95 : Estimated East Bias at time = 1134.00 : -27.05 : Estimated Depth Bias at time = 1134.00 : 0.63 : Estimated northing and easting = 4075073.98 : 590735.34 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202704.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202703.41,3649.0251,N,-12158.9430,W,1,03,00.5,094.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=249.55 horzlMode=2 horz=3.78 speedMode=1 speed=1.00 : WaypointHoming - Offset (dn de ) = (30.9 4.7), t = 1178.80 r = 173.6m. : TerrainNav update at nav time = 1137.002110 : TerrainNav update at dvl time = 1137.002110 : _navData-> (x,y) = (4075063.99, 590761.08) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202705.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202704.41,3649.0248,N,-12158.9433,W,1,03,00.5,094.8,M,-99.9,M,,*46 : WaypointHoming - Offset (dn de ) = (30.7 4.7), t = 1180.00 r = 172.5m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.79 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202706.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202705.41,3649.0244,N,-12158.9436,W,1,03,00.5,094.9,M,-99.9,M,,*4f : Estimated North Bias at time = 1137.00 : 7.95 : Estimated East Bias at time = 1137.00 : -27.07 : Estimated Depth Bias at time = 1137.00 : 0.63 : Estimated northing and easting = 4075071.95 : 590734.01 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming - Offset (dn de ) = (30.6 4.7), t = 1181.20 r = 171.4m. : AshtechGps::processRecord() - $GPGGA,202707.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202706.41,3649.0240,N,-12158.9439,W,1,03,00.5,094.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=249.61 horzlMode=2 horz=3.79 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1140.001904 : TerrainNav update at dvl time = 1140.001904 : _navData-> (x,y) = (4075061.93, 590759.73) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202708.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202707.41,3649.0236,N,-12158.9442,W,1,03,00.5,094.1,M,-99.9,M,,*43 : WaypointHoming - Offset (dn de ) = (30.5 4.7), t = 1182.40 r = 170.6m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.79 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202709.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202708.41,3649.0233,N,-12158.9445,W,1,03,00.5,096.7,M,-99.9,M,,*4a : WaypointHoming - Offset (dn de ) = (30.5 4.8), t = 1183.60 r = 169.4m. : Estimated North Bias at time = 1140.00 : 7.99 : Estimated East Bias at time = 1140.00 : -26.91 : Estimated Depth Bias at time = 1140.00 : 0.63 : Estimated northing and easting = 4075069.92 : 590732.82 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.79 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202710.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202709.41,3649.0229,N,-12158.9448,W,1,03,00.5,094.5,M,-99.9,M,,*4d : WaypointHoming - Offset (dn de ) = (30.4 4.8), t = 1184.80 r = 168.5m. : TerrainNav update at nav time = 1143.001699 : TerrainNav update at dvl time = 1143.001699 : _navData-> (x,y) = (4075059.82, 590758.36) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202711.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202710.41,3649.0225,N,-12158.9451,W,1,03,00.5,096.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.79 speedMode=1 speed=1.00 : WaypointHoming - Offset (dn de ) = (30.4 4.8), t = 1186.00 r = 167.7m. : AshtechGps::processRecord() - $GPGGA,202712.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202711.41,3649.0221,N,-12158.9455,W,1,03,00.5,094.3,M,-99.9,M,,*46 : Estimated North Bias at time = 1143.00 : 7.89 : Estimated East Bias at time = 1143.00 : -26.87 : Estimated Depth Bias at time = 1143.00 : 0.63 : Estimated northing and easting = 4075067.72 : 590731.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.79 speedMode=1 speed=1.00 : WaypointHoming - Offset (dn de ) = (30.4 4.7), t = 1187.20 r = 166.6m. : AshtechGps::processRecord() - $GPGGA,202713.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202712.41,3649.0218,N,-12158.9458,W,1,03,00.5,096.5,M,-99.9,M,,*46 : TerrainNav update at nav time = 1146.001493 : TerrainNav update at dvl time = 1146.001493 : _navData-> (x,y) = (4075057.75, 590756.96) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202714.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202713.41,3649.0214,N,-12158.9461,W,1,03,00.5,094.3,M,-99.9,M,,*45 : WaypointHoming - Offset (dn de ) = (30.1 4.7), t = 1188.40 r = 165.7m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.79 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202715.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202714.41,3649.0210,N,-12158.9464,W,1,03,00.5,095.6,M,-99.9,M,,*47 : WaypointHoming - Offset (dn de ) = (30.0 4.7), t = 1189.60 r = 164.7m. : Estimated North Bias at time = 1146.00 : 8.09 : Estimated East Bias at time = 1146.00 : -27.07 : Estimated Depth Bias at time = 1146.00 : 0.63 : Estimated northing and easting = 4075065.84 : 590729.89 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.79 speedMode=1 speed=1.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202716.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202715.41,3649.0207,N,-12158.9467,W,1,03,00.5,093.8,M,-99.9,M,,*4b : WaypointHoming - Offset (dn de ) = (30.0 4.8), t = 1190.80 r = 163.8m. : TerrainNav update at nav time = 1149.001288 : TerrainNav update at dvl time = 1149.001288 : _navData-> (x,y) = (4075055.66, 590755.52) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.79 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202717.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202716.41,3649.0203,N,-12158.9471,W,1,03,00.5,095.5,M,-99.9,M,,*40 : WaypointHoming - Offset (dn de ) = (29.9 4.8), t = 1192.00 r = 162.7m. : AshtechGps::processRecord() - $GPGGA,202718.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202717.41,3649.0199,N,-12158.9474,W,1,03,00.5,091.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=249.90 horzlMode=2 horz=3.79 speedMode=1 speed=1.00 : Estimated North Bias at time = 1149.00 : 8.07 : Estimated East Bias at time = 1149.00 : -27.10 : Estimated Depth Bias at time = 1149.00 : 0.63 : Estimated northing and easting = 4075063.73 : 590728.42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming - Offset (dn de ) = (29.7 4.9), t = 1193.00 r = 161.6m. : AshtechGps::processRecord() - $GPGGA,202719.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202718.41,3649.0196,N,-12158.9477,W,1,03,00.5,094.8,M,-99.9,M,,*4b : TerrainNav update at nav time = 1152.001082 : TerrainNav update at dvl time = 1152.001082 : _navData-> (x,y) = (4075053.65, 590754.15) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.80 speedMode=1 speed=1.00 : WaypointHoming - Offset (dn de ) = (29.6 5.4), t = 1194.20 r = 160.5m. : AshtechGps::processRecord() - $GPGGA,202720.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202719.41,3649.0192,N,-12158.9480,W,1,03,00.5,091.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202721.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202720.41,3649.0189,N,-12158.9483,W,1,03,00.5,094.7,M,-99.9,M,,*4a : WaypointHoming - Offset (dn de ) = (29.3 5.6), t = 1195.40 r = 159.5m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.80 speedMode=1 speed=1.00 : Estimated North Bias at time = 1152.00 : 8.01 : Estimated East Bias at time = 1152.00 : -27.07 : Estimated Depth Bias at time = 1152.00 : 0.63 : Estimated northing and easting = 4075061.66 : 590727.07 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202722.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202721.41,3649.0185,N,-12158.9487,W,1,03,00.5,091.2,M,-99.9,M,,*43 : WaypointHoming - Offset (dn de ) = (29.0 5.8), t = 1196.60 r = 158.5m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.80 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1155.000877 : TerrainNav update at dvl time = 1155.000877 : _navData-> (x,y) = (4075051.66, 590752.69) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202723.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202722.41,3649.0181,N,-12158.9490,W,1,03,00.5,094.8,M,-99.9,M,,*4d : WaypointHoming - Offset (dn de ) = (29.0 5.8), t = 1197.80 r = 157.5m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.80 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202724.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202723.41,3649.0178,N,-12158.9493,W,1,03,00.5,094.8,M,-99.9,M,,*49 : Estimated North Bias at time = 1155.00 : 7.77 : Estimated East Bias at time = 1155.00 : -26.50 : Estimated Depth Bias at time = 1155.00 : 0.64 : Estimated northing and easting = 4075059.43 : 590726.19 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming - Offset (dn de ) = (28.9 5.8), t = 1199.00 r = 156.6m. : AshtechGps::processRecord() - $GPGGA,202725.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202724.41,3649.0174,N,-12158.9496,W,1,03,00.5,091.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.80 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1158.000672 : TerrainNav update at dvl time = 1158.000672 : _navData-> (x,y) = (4075049.67, 590751.38) : _tercom->outstandingMeas() = 0 : WaypointHoming - Offset (dn de ) = (28.8 5.9), t = 1200.20 r = 155.6m. : AshtechGps::processRecord() - $GPGGA,202726.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202725.41,3649.0171,N,-12158.9499,W,1,03,00.5,094.7,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : WaypointHoming - Offset (dn de ) = (28.8 5.9), t = 1201.20 r = 154.4m. : AshtechGps::processRecord() - $GPGGA,202727.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202726.41,3649.0167,N,-12158.9502,W,1,03,00.5,091.1,M,-99.9,M,,*47 : Estimated North Bias at time = 1158.00 : 7.90 : Estimated East Bias at time = 1158.00 : -26.83 : Estimated Depth Bias at time = 1158.00 : 0.64 : Estimated northing and easting = 4075057.57 : 590724.55 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202728.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202727.41,3649.0164,N,-12158.9506,W,1,03,00.5,094.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1161.000466 : TerrainNav update at dvl time = 1161.000466 : _navData-> (x,y) = (4075047.69, 590749.95) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202729.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202728.41,3649.0160,N,-12158.9509,W,1,03,00.5,090.4,M,-99.9,M,,*41 : WaypointHoming - Offset (dn de ) = (28.8 5.9), t = 1203.60 r = 152.2m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202730.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202729.41,3649.0157,N,-12158.9512,W,1,03,00.5,091.8,M,-99.9,M,,*43 : Estimated North Bias at time = 1161.00 : 7.84 : Estimated East Bias at time = 1161.00 : -26.57 : Estimated Depth Bias at time = 1161.00 : 0.64 : Estimated northing and easting = 4075055.53 : 590723.37 : WaypointHoming - Offset (dn de ) = (28.7 5.9), t = 1204.80 r = 151.1m. : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202731.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202730.41,3649.0153,N,-12158.9515,W,1,03,00.5,092.7,M,-99.9,M,,*44 : TerrainNav update at nav time = 1164.000261 : TerrainNav update at dvl time = 1164.000261 : _navData-> (x,y) = (4075045.65, 590748.59) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202732.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202731.41,3649.0149,N,-12158.9518,W,1,03,00.5,091.8,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : WaypointHoming - Offset (dn de ) = (28.6 5.9), t = 1207.20 r = 149.2m. : WaypointHoming has set the state to finished. : WaypointHoming (4074927.4, 590655.2), reached at t = 1207.20 (wplog) : Vehicle Position error is (-117.3, -92.8) : The projected distance to the waypoint is 149.6. : The usbl range to the waypoint is 149.2. : LayeredControl::execute() -- (t = 1207.207301) Behavior waypoint_homing:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 1207.21 (wplog) The current location (N,E) = 4075044.7 , 590748.0 (wplog) The next waypoint = 4074955.6 , 590661.2 (wplog) The bearing to the next w.p. is 224.3 Degrees. : WaypointHoming:: Beacon is in the Usbl Fov at t = 1207.2 with dtw = 10000.00 : WaypointHoming: The Usbl has aquired the transponder at t = 1207.21 Seconds. : The vehicle position is (4075044.7, 590748.0) : LayeredControl::execute() -- (t = 1207.217300) Behavior waypoint_homing:-1 has changed to state Active : AshtechGps::processRecord() - $GPGGA,202733.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202732.41,3649.0145,N,-12158.9521,W,1,03,00.5,091.3,M,-99.9,M,,*41 : SonardyneDriver::Stop : SonardyneDriver:: New transponder interrogation address is POS V4,5 : SonardyneDriver::Start : Estimated North Bias at time = 1164.00 : 7.94 : Estimated East Bias at time = 1164.00 : -26.38 : Estimated Depth Bias at time = 1164.00 : 0.64 : Estimated northing and easting = 4075053.59 : 590722.20 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.91 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202734.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202733.41,3649.0142,N,-12158.9524,W,1,03,00.5,091.3,M,-99.9,M,,*42 : TerrainNav update at nav time = 1167.000055 : TerrainNav update at dvl time = 1167.000055 : _navData-> (x,y) = (4075043.65, 590747.21) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202735.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202734.41,3649.0138,N,-12158.9528,W,1,03,00.5,091.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.91 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202736.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202735.41,3649.0135,N,-12158.9531,W,1,03,00.5,092.1,M,-99.9,M,,*41 : Estimated North Bias at time = 1167.00 : 7.76 : Estimated East Bias at time = 1167.00 : -26.13 : Estimated Depth Bias at time = 1167.00 : 0.64 : Estimated northing and easting = 4075051.41 : 590721.08 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.91 speedMode=1 speed=1.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202737.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202736.41,3649.0131,N,-12158.9534,W,1,03,00.5,091.8,M,-99.9,M,,*49 : TerrainNav update at nav time = 1169.999850 : TerrainNav update at dvl time = 1169.999850 : _navData-> (x,y) = (4075041.64, 590745.83) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.92 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202738.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202737.41,3649.0128,N,-12158.9537,W,1,03,00.5,091.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202739.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202738.41,3649.0124,N,-12158.9540,W,1,03,00.5,091.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.82 speedMode=1 speed=1.00 : Estimated North Bias at time = 1170.00 : 7.85 : Estimated East Bias at time = 1170.00 : -26.20 : Estimated Depth Bias at time = 1170.00 : 0.64 : Estimated northing and easting = 4075049.49 : 590719.63 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202740.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202739.41,3649.0121,N,-12158.9543,W,1,03,00.5,091.4,M,-99.9,M,,*4b : TerrainNav update at nav time = 1172.999644 : TerrainNav update at dvl time = 1172.999644 : _navData-> (x,y) = (4075039.73, 590744.49) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.82 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202741.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202740.41,3649.0117,N,-12158.9546,W,1,03,00.5,091.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202742.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202741.41,3649.0114,N,-12158.9549,W,1,03,00.5,091.5,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.82 speedMode=1 speed=1.00 : Estimated North Bias at time = 1173.00 : 7.87 : Estimated East Bias at time = 1173.00 : -26.20 : Estimated Depth Bias at time = 1173.00 : 0.64 : Estimated northing and easting = 4075047.60 : 590718.30 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202743.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202742.41,3649.0110,N,-12158.9552,W,1,03,00.5,091.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.82 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1175.999439 : TerrainNav update at dvl time = 1175.999439 : _navData-> (x,y) = (4075037.66, 590743.19) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202744.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202743.41,3649.0106,N,-12158.9555,W,1,03,00.5,091.5,M,-99.9,M,,*45 : WaypointHoming - Offset (dn de ) = (0.0 0.0), t = 1218.60 r = 138.3m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.82 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202745.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202744.41,3649.0102,N,-12158.9558,W,1,03,00.5,090.2,M,-99.9,M,,*4d : Estimated North Bias at time = 1176.00 : 8.12 : Estimated East Bias at time = 1176.00 : -26.42 : Estimated Depth Bias at time = 1176.00 : 0.64 : Estimated northing and easting = 4075045.78 : 590716.78 : WaypointHoming - Offset (dn de ) = (26.5 6.3), t = 1219.80 r = 137.2m. : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202746.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202745.41,3649.0099,N,-12158.9561,W,1,03,00.5,091.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.83 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1178.999233 : TerrainNav update at dvl time = 1178.999233 : _navData-> (x,y) = (4075035.55, 590741.87) : _tercom->outstandingMeas() = 0 : WaypointHoming - Offset (dn de ) = (26.5 6.0), t = 1221.00 r = 136.3m. : AshtechGps::processRecord() - $GPGGA,202747.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202746.41,3649.0095,N,-12158.9564,W,1,03,00.5,088.7,M,-99.9,M,,*43 : WaypointHoming - Offset (dn de ) = (26.4 5.5), t = 1222.00 r = 135.4m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.82 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202748.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202747.41,3649.0091,N,-12158.9567,W,1,03,00.5,087.8,M,-99.9,M,,*45 : Estimated North Bias at time = 1179.00 : 8.49 : Estimated East Bias at time = 1179.00 : -26.82 : Estimated Depth Bias at time = 1179.00 : 0.64 : Estimated northing and easting = 4075044.05 : 590715.05 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming - Offset (dn de ) = (26.4 5.3), t = 1223.20 r = 134.5m. : AshtechGps::processRecord() - $GPGGA,202749.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202748.41,3649.0087,N,-12158.9570,W,1,03,00.5,087.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.82 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1181.999027 : TerrainNav update at dvl time = 1181.999027 : _navData-> (x,y) = (4075033.51, 590740.58) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202750.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202749.41,3649.0084,N,-12158.9573,W,1,03,00.5,087.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.82 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202751.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202750.41,3649.0081,N,-12158.9576,W,1,03,00.5,087.8,M,-99.9,M,,*42 : WaypointHoming - Offset (dn de ) = (26.4 5.1), t = 1225.60 r = 132.7m. : Estimated North Bias at time = 1182.00 : 7.87 : Estimated East Bias at time = 1182.00 : -25.98 : Estimated Depth Bias at time = 1182.00 : 0.64 : Estimated northing and easting = 4075041.38 : 590714.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.82 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202752.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202751.41,3649.0077,N,-12158.9579,W,1,03,00.5,087.7,M,-99.9,M,,*4a : WaypointHoming - Offset (dn de ) = (26.3 5.1), t = 1226.60 r = 131.7m. : TerrainNav update at nav time = 1184.998822 : TerrainNav update at dvl time = 1184.998822 : _navData-> (x,y) = (4075031.55, 590739.17) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202753.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202752.41,3649.0073,N,-12158.9582,W,1,03,00.5,087.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.82 speedMode=1 speed=1.00 : WaypointHoming - Offset (dn de ) = (26.3 5.1), t = 1227.80 r = 130.6m. : AshtechGps::processRecord() - $GPGGA,202754.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202753.41,3649.0070,N,-12158.9586,W,1,03,00.5,087.7,M,-99.9,M,,*4f : Estimated North Bias at time = 1185.00 : 7.65 : Estimated East Bias at time = 1185.00 : -25.52 : Estimated Depth Bias at time = 1185.00 : 0.64 : Estimated northing and easting = 4075039.20 : 590713.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming - Offset (dn de ) = (26.2 5.1), t = 1229.00 r = 129.5m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.83 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202755.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202754.41,3649.0066,N,-12158.9589,W,1,03,00.5,087.7,M,-99.9,M,,*40 : TerrainNav update at nav time = 1187.998616 : TerrainNav update at dvl time = 1187.998616 : _navData-> (x,y) = (4075029.53, 590737.79) : _tercom->outstandingMeas() = 0 : WaypointHoming - Offset (dn de ) = (26.0 5.1), t = 1230.00 r = 128.2m. : AshtechGps::processRecord() - $GPGGA,202756.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202755.41,3649.0063,N,-12158.9592,W,1,03,00.5,087.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.83 speedMode=1 speed=1.00 : WaypointHoming - Offset (dn de ) = (25.9 5.4), t = 1231.20 r = 127.0m. : AshtechGps::processRecord() - $GPGGA,202757.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202756.41,3649.0059,N,-12158.9595,W,1,03,00.5,087.8,M,-99.9,M,,*4c : Estimated North Bias at time = 1188.00 : 7.54 : Estimated East Bias at time = 1188.00 : -25.15 : Estimated Depth Bias at time = 1188.00 : 0.64 : Estimated northing and easting = 4075037.07 : 590712.64 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.83 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202758.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202757.41,3649.0055,N,-12158.9598,W,1,03,00.5,087.9,M,-99.9,M,,*4d : WaypointHoming - Offset (dn de ) = (25.6 5.4), t = 1232.40 r = 125.9m. : TerrainNav update at nav time = 1190.998411 : TerrainNav update at dvl time = 1190.998411 : _navData-> (x,y) = (4075027.54, 590736.50) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.83 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202759.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202758.41,3649.0052,N,-12158.9601,W,1,03,00.5,087.1,M,-99.9,M,,*4e : WaypointHoming - Offset (dn de ) = (25.6 5.4), t = 1233.40 r = 124.6m. : AshtechGps::processRecord() - $GPGGA,202800.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202759.41,3649.0049,N,-12158.9604,W,1,03,00.5,087.2,M,-99.9,M,,*43 : WaypointHoming - Offset (dn de ) = (25.5 5.4), t = 1234.60 r = 123.4m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.83 speedMode=1 speed=1.00 : Estimated North Bias at time = 1191.00 : 7.79 : Estimated East Bias at time = 1191.00 : -25.23 : Estimated Depth Bias at time = 1191.00 : 0.64 : Estimated northing and easting = 4075035.33 : 590711.27 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202801.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202800.41,3649.0045,N,-12158.9607,W,1,03,00.5,086.6,M,-99.9,M,,*4a : WaypointHoming - Offset (dn de ) = (25.4 5.4), t = 1235.80 r = 122.3m. : TerrainNav update at nav time = 1193.998205 : TerrainNav update at dvl time = 1193.998205 : _navData-> (x,y) = (4075025.56, 590735.13) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.84 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202802.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202801.41,3649.0041,N,-12158.9610,W,1,03,00.5,086.9,M,-99.9,M,,*46 : WaypointHoming - Offset (dn de ) = (24.8 5.4), t = 1236.80 r = 121.2m. : AshtechGps::processRecord() - $GPGGA,202803.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202802.41,3649.0038,N,-12158.9613,W,1,03,00.5,085.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.84 speedMode=1 speed=1.00 : Estimated North Bias at time = 1194.00 : 7.88 : Estimated East Bias at time = 1194.00 : -24.91 : Estimated Depth Bias at time = 1194.00 : 0.64 : Estimated northing and easting = 4075033.44 : 590710.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming - Offset (dn de ) = (24.7 5.1), t = 1238.00 r = 120.3m. : AshtechGps::processRecord() - $GPGGA,202804.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202803.41,3649.0034,N,-12158.9616,W,1,03,00.5,085.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.84 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1196.998000 : TerrainNav update at dvl time = 1196.998000 : _navData-> (x,y) = (4075023.63, 590733.79) : _tercom->outstandingMeas() = 0 : WaypointHoming - Offset (dn de ) = (24.6 5.0), t = 1239.20 r = 119.5m. : AshtechGps::processRecord() - $GPGGA,202805.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202804.41,3649.0031,N,-12158.9619,W,1,03,00.5,085.7,M,-99.9,M,,*40 : WaypointHoming - Offset (dn de ) = (24.3 4.8), t = 1240.20 r = 118.8m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.84 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202806.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202805.41,3649.0027,N,-12158.9622,W,1,03,00.5,084.5,M,-99.9,M,,*4d : Estimated North Bias at time = 1197.00 : 7.78 : Estimated East Bias at time = 1197.00 : -24.73 : Estimated Depth Bias at time = 1197.00 : 0.64 : Estimated northing and easting = 4075031.41 : 590709.05 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202807.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202806.41,3649.0024,N,-12158.9626,W,1,03,00.5,085.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.84 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1199.997795 : TerrainNav update at dvl time = 1199.997795 : _navData-> (x,y) = (4075021.59, 590732.39) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202808.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202807.41,3649.0020,N,-12158.9629,W,1,03,00.5,085.4,M,-99.9,M,,*43 : WaypointHoming - Offset (dn de ) = (24.1 4.8), t = 1242.59 r = 117.0m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.84 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202809.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202808.41,3649.0016,N,-12158.9632,W,1,03,00.5,084.3,M,-99.9,M,,*45 : Estimated North Bias at time = 1200.00 : 8.05 : Estimated East Bias at time = 1200.00 : -24.53 : Estimated Depth Bias at time = 1200.00 : 0.64 : Estimated northing and easting = 4075029.64 : 590707.86 : WaypointHoming - Offset (dn de ) = (23.7 4.8), t = 1243.59 r = 116.1m. : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202810.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202809.41,3649.0013,N,-12158.9636,W,1,03,00.5,083.7,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.85 speedMode=1 speed=1.00 : WaypointHoming - Offset (dn de ) = (23.7 4.8), t = 1244.79 r = 115.1m. : TerrainNav update at nav time = 1202.997589 : TerrainNav update at dvl time = 1202.997589 : _navData-> (x,y) = (4075019.63, 590730.89) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202811.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202810.41,3649.0009,N,-12158.9639,W,1,03,00.5,082.9,M,-99.9,M,,*45 : WaypointHoming - Offset (dn de ) = (23.5 4.8), t = 1245.79 r = 114.0m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.85 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202812.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202811.41,3649.0006,N,-12158.9642,W,1,03,00.5,083.6,M,-99.9,M,,*49 : Estimated North Bias at time = 1203.00 : 7.77 : Estimated East Bias at time = 1203.00 : -24.06 : Estimated Depth Bias at time = 1203.00 : 0.64 : Estimated northing and easting = 4075027.40 : 590706.83 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming - Offset (dn de ) = (23.5 5.0), t = 1246.99 r = 113.0m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.85 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202813.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202812.41,3649.0002,N,-12158.9646,W,1,03,00.5,082.7,M,-99.9,M,,*4a : TerrainNav update at nav time = 1205.997384 : TerrainNav update at dvl time = 1205.997384 : _navData-> (x,y) = (4075017.69, 590729.44) : _tercom->outstandingMeas() = 0 : WaypointHoming - Offset (dn de ) = (23.3 5.0), t = 1248.19 r = 112.1m. : AshtechGps::processRecord() - $GPGGA,202814.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202813.41,3648.9999,N,-12158.9649,W,1,03,00.5,083.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.85 speedMode=1 speed=1.00 : WaypointHoming - Offset (dn de ) = (23.3 5.4), t = 1249.19 r = 111.1m. : AshtechGps::processRecord() - $GPGGA,202815.00,,,,,0,00,,,M,,M,,*44 : NMEA Update: $GPGGA,202814.41,3648.9996,N,-12158.9653,W,1,03,00.5,082.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1206.00 : 7.71 : Estimated East Bias at time = 1206.00 : -23.75 : Estimated Depth Bias at time = 1206.00 : 0.64 : Estimated northing and easting = 4075025.40 : 590705.70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.85 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202816.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202815.41,3648.9992,N,-12158.9656,W,1,03,00.5,082.7,M,-99.9,M,,*44 : WaypointHoming - Offset (dn de ) = (23.1 5.5), t = 1250.39 r = 110.1m. : TerrainNav update at nav time = 1208.997178 : TerrainNav update at dvl time = 1208.997178 : _navData-> (x,y) = (4075015.77, 590727.92) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202817.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202816.41,3648.9989,N,-12158.9660,W,1,03,00.5,081.7,M,-99.9,M,,*4b : WaypointHoming - Offset (dn de ) = (23.0 5.6), t = 1251.39 r = 109.0m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.86 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202818.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202817.41,3648.9985,N,-12158.9663,W,1,03,00.5,081.9,M,-99.9,M,,*4b : Estimated North Bias at time = 1209.00 : 7.47 : Estimated East Bias at time = 1209.00 : -23.50 : Estimated Depth Bias at time = 1209.00 : 0.65 : Estimated northing and easting = 4075023.23 : 590704.42 : WaypointHoming - Offset (dn de ) = (22.6 5.6), t = 1252.59 r = 108.0m. : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.86 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202819.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202818.41,3648.9982,N,-12158.9666,W,1,03,00.5,081.4,M,-99.9,M,,*4b : WaypointHoming - Offset (dn de ) = (22.4 5.9), t = 1253.79 r = 107.1m. : TerrainNav update at nav time = 1211.996973 : TerrainNav update at dvl time = 1211.996973 : _navData-> (x,y) = (4075013.81, 590726.40) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.86 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202820.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202819.41,3648.9978,N,-12158.9670,W,1,03,00.5,081.3,M,-99.9,M,,*4f : WaypointHoming - Offset (dn de ) = (22.2 5.9), t = 1254.79 r = 106.2m. : AshtechGps::processRecord() - $GPGGA,202821.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202820.41,3648.9975,N,-12158.9673,W,1,03,00.5,081.8,M,-99.9,M,,*40 : Estimated North Bias at time = 1212.00 : 7.17 : Estimated East Bias at time = 1212.00 : -22.91 : Estimated Depth Bias at time = 1212.00 : 0.65 : Estimated northing and easting = 4075020.98 : 590703.50 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.87 speedMode=1 speed=1.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202822.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202821.41,3648.9971,N,-12158.9676,W,1,03,00.5,081.2,M,-99.9,M,,*4a : TerrainNav update at nav time = 1214.996767 : TerrainNav update at dvl time = 1214.996767 : _navData-> (x,y) = (4075011.87, 590725.04) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.87 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202822.41,3648.9968,N,-12158.9679,W,1,03,00.5,081.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202823.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,202824.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202823.41,3648.9964,N,-12158.9682,W,1,03,00.5,081.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.87 speedMode=1 speed=1.00 : Estimated North Bias at time = 1215.00 : 7.08 : Estimated East Bias at time = 1215.00 : -22.43 : Estimated Depth Bias at time = 1215.00 : 0.65 : Estimated northing and easting = 4075018.95 : 590702.61 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming - Offset (dn de ) = (22.1 5.9), t = 1259.19 r = 103.0m. : AshtechGps::processRecord() - $GPGGA,202825.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202824.41,3648.9961,N,-12158.9686,W,1,03,00.5,081.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.87 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1217.996562 : TerrainNav update at dvl time = 1217.996562 : _navData-> (x,y) = (4075009.94, 590723.57) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202826.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202825.41,3648.9957,N,-12158.9689,W,1,03,00.5,081.8,M,-99.9,M,,*40 : WaypointHoming - Offset (dn de ) = (22.1 5.8), t = 1260.39 r = 102.2m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.87 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202827.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202826.41,3648.9954,N,-12158.9692,W,1,03,00.5,079.9,M,-99.9,M,,*4c : WaypointHoming - Offset (dn de ) = (22.1 5.4), t = 1261.39 r = 101.3m. : Estimated North Bias at time = 1218.00 : 7.10 : Estimated East Bias at time = 1218.00 : -22.33 : Estimated Depth Bias at time = 1218.00 : 0.65 : Estimated northing and easting = 4075017.04 : 590701.24 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202828.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202827.41,3648.9950,N,-12158.9696,W,1,03,00.5,080.2,M,-99.9,M,,*40 : WaypointHoming - Offset (dn de ) = (22.6 5.4), t = 1262.59 r = 100.4m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.87 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1220.996356 : TerrainNav update at dvl time = 1220.996356 : _navData-> (x,y) = (4075007.98, 590722.15) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202829.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202828.41,3648.9947,N,-12158.9699,W,1,03,00.5,080.4,M,-99.9,M,,*40 : WaypointHoming - Offset (dn de ) = (22.6 5.4), t = 1263.59 r = 99.4m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.87 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202830.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202829.41,3648.9943,N,-12158.9702,W,1,03,00.5,080.6,M,-99.9,M,,*44 : Estimated North Bias at time = 1221.00 : 6.98 : Estimated East Bias at time = 1221.00 : -22.23 : Estimated Depth Bias at time = 1221.00 : 0.65 : Estimated northing and easting = 4075014.96 : 590699.92 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming - Offset (dn de ) = (22.7 5.4), t = 1264.79 r = 98.3m. : AshtechGps::processRecord() - $GPGGA,202831.00,,,,,0,00,,,M,,M,,*42 : NMEA Update: $GPGGA,202830.41,3648.9940,N,-12158.9705,W,1,03,00.5,079.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.87 speedMode=1 speed=1.00 : WaypointHoming - Offset (dn de ) = (22.7 5.3), t = 1265.79 r = 97.2m. : TerrainNav update at nav time = 1223.996150 : TerrainNav update at dvl time = 1223.996150 : _navData-> (x,y) = (4075006.00, 590720.68) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202832.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202831.41,3648.9936,N,-12158.9709,W,1,03,00.5,079.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.87 speedMode=1 speed=1.00 : WaypointHoming - Offset (dn de ) = (22.7 5.2), t = 1266.99 r = 96.1m. : AshtechGps::processRecord() - $GPGGA,202833.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202832.41,3648.9933,N,-12158.9712,W,1,03,00.5,078.8,M,-99.9,M,,*41 : Estimated North Bias at time = 1224.00 : 6.89 : Estimated East Bias at time = 1224.00 : -22.02 : Estimated Depth Bias at time = 1224.00 : 0.65 : Estimated northing and easting = 4075012.89 : 590698.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.87 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202834.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202833.40,3648.9929,N,-12158.9716,W,1,03,00.5,078.9,M,-99.9,M,,*4f : TerrainNav update at nav time = 1226.995945 : TerrainNav update at dvl time = 1226.995945 : _navData-> (x,y) = (4075003.94, 590719.17) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202835.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202834.40,3648.9925,N,-12158.9719,W,1,03,00.5,082.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.87 speedMode=1 speed=1.00 : WaypointHoming - Offset (dn de ) = (22.7 5.2), t = 1270.19 r = 93.1m. : AshtechGps::processRecord() - $GPGGA,202836.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202835.40,3648.9922,N,-12158.9723,W,1,03,00.5,082.6,M,-99.9,M,,*4e : Estimated North Bias at time = 1227.00 : 6.84 : Estimated East Bias at time = 1227.00 : -22.03 : Estimated Depth Bias at time = 1227.00 : 0.65 : Estimated northing and easting = 4075010.78 : 590697.13 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.87 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202837.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202836.40,3648.9918,N,-12158.9726,W,1,03,00.5,082.6,M,-99.9,M,,*41 : WaypointHoming - Offset (dn de ) = (22.5 5.2), t = 1271.39 r = 92.1m. : TerrainNav update at nav time = 1229.995739 : TerrainNav update at dvl time = 1229.995739 : _navData-> (x,y) = (4075001.90, 590717.64) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202838.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202837.40,3648.9914,N,-12158.9730,W,1,03,00.5,082.7,M,-99.9,M,,*4a : WaypointHoming - Offset (dn de ) = (22.3 5.2), t = 1272.39 r = 90.9m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.87 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202839.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202838.40,3648.9911,N,-12158.9733,W,1,03,00.5,082.9,M,-99.9,M,,*4d : Estimated North Bias at time = 1230.00 : 6.86 : Estimated East Bias at time = 1230.00 : -22.17 : Estimated Depth Bias at time = 1230.00 : 0.65 : Estimated northing and easting = 4075008.76 : 590695.48 : WaypointHoming - Offset (dn de ) = (22.3 5.2), t = 1273.59 r = 89.7m. : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.88 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202840.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202839.40,3648.9907,N,-12158.9737,W,1,03,00.5,082.9,M,-99.9,M,,*4f : WaypointHoming - Offset (dn de ) = (22.1 5.2), t = 1274.59 r = 88.3m. : TerrainNav update at nav time = 1232.995534 : TerrainNav update at dvl time = 1232.995534 : _navData-> (x,y) = (4074999.90, 590716.08) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.88 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202841.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202840.40,3648.9904,N,-12158.9740,W,1,03,00.5,080.7,M,-99.9,M,,*4e : WaypointHoming - Offset (dn de ) = (22.1 5.2), t = 1275.79 r = 87.1m. : AshtechGps::processRecord() - $GPGGA,202842.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202841.40,3648.9900,N,-12158.9744,W,1,03,00.5,081.7,M,-99.9,M,,*4e : Estimated North Bias at time = 1233.00 : 6.77 : Estimated East Bias at time = 1233.00 : -22.46 : Estimated Depth Bias at time = 1233.00 : 0.65 : Estimated northing and easting = 4075006.67 : 590693.63 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.88 speedMode=1 speed=1.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming - Offset (dn de ) = (21.7 5.2), t = 1276.79 r = 85.8m. : AshtechGps::processRecord() - $GPGGA,202843.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202842.40,3648.9896,N,-12158.9747,W,1,03,00.5,080.5,M,-99.9,M,,*43 : TerrainNav update at nav time = 1235.995328 : TerrainNav update at dvl time = 1235.995328 : _navData-> (x,y) = (4074997.89, 590714.51) : _tercom->outstandingMeas() = 0 : WaypointHoming - Offset (dn de ) = (21.4 5.1), t = 1277.99 r = 84.6m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.88 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202844.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202843.40,3648.9893,N,-12158.9751,W,1,03,00.5,080.1,M,-99.9,M,,*44 : WaypointHoming - Offset (dn de ) = (21.3 5.1), t = 1278.99 r = 83.8m. : AshtechGps::processRecord() - $GPGGA,202845.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202844.40,3648.9889,N,-12158.9755,W,1,03,00.5,079.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.89 speedMode=1 speed=1.00 : Estimated North Bias at time = 1236.00 : 6.72 : Estimated East Bias at time = 1236.00 : -22.69 : Estimated Depth Bias at time = 1236.00 : 0.65 : Estimated northing and easting = 4075004.61 : 590691.81 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming - Offset (dn de ) = (21.0 5.1), t = 1280.19 r = 82.8m. : AshtechGps::processRecord() - $GPGGA,202846.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202845.40,3648.9886,N,-12158.9758,W,1,03,00.5,079.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.89 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1238.995123 : TerrainNav update at dvl time = 1238.995123 : _navData-> (x,y) = (4074995.87, 590712.95) : _tercom->outstandingMeas() = 0 : WaypointHoming - Offset (dn de ) = (20.8 4.4), t = 1281.19 r = 81.7m. : AshtechGps::processRecord() - $GPGGA,202847.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202846.40,3648.9882,N,-12158.9762,W,1,03,00.5,080.6,M,-99.9,M,,*46 : WaypointHoming - Offset (dn de ) = (20.5 4.4), t = 1282.19 r = 80.9m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.89 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202848.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202847.40,3648.9878,N,-12158.9765,W,1,03,00.5,080.5,M,-99.9,M,,*46 : Estimated North Bias at time = 1239.00 : 6.78 : Estimated East Bias at time = 1239.00 : -23.13 : Estimated Depth Bias at time = 1239.00 : 0.65 : Estimated northing and easting = 4075002.64 : 590689.82 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202849.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202848.40,3648.9875,N,-12158.9769,W,1,03,00.5,080.5,M,-99.9,M,,*48 : WaypointHoming - Offset (dn de ) = (20.4 4.2), t = 1283.39 r = 79.8m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.89 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1241.994918 : TerrainNav update at dvl time = 1241.994918 : _navData-> (x,y) = (4074993.84, 590711.37) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202850.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202849.40,3648.9871,N,-12158.9772,W,1,03,00.5,079.9,M,-99.9,M,,*4d : WaypointHoming - Offset (dn de ) = (20.3 4.2), t = 1284.39 r = 78.2m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.89 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202851.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202850.40,3648.9868,N,-12158.9776,W,1,03,00.5,080.2,M,-99.9,M,,*44 : Estimated North Bias at time = 1241.99 : 6.90 : Estimated East Bias at time = 1241.99 : -23.54 : Estimated Depth Bias at time = 1241.99 : 0.65 : Estimated northing and easting = 4075000.74 : 590687.82 : WaypointHoming - Offset (dn de ) = (20.3 4.2), t = 1285.59 r = 77.5m. : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202852.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202851.40,3648.9864,N,-12158.9780,W,1,03,00.5,079.9,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.89 speedMode=1 speed=1.00 : WaypointHoming - Offset (dn de ) = (20.1 4.2), t = 1286.59 r = 75.9m. : TerrainNav update at nav time = 1244.994712 : TerrainNav update at dvl time = 1244.994712 : _navData-> (x,y) = (4074991.84, 590709.72) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202853.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202852.40,3648.9860,N,-12158.9784,W,1,03,00.5,079.5,M,-99.9,M,,*42 : WaypointHoming - Offset (dn de ) = (20.0 4.2), t = 1287.79 r = 74.8m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.90 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202854.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202853.40,3648.9857,N,-12158.9787,W,1,03,00.5,079.9,M,-99.9,M,,*48 : Estimated North Bias at time = 1244.99 : 6.99 : Estimated East Bias at time = 1244.99 : -23.82 : Estimated Depth Bias at time = 1244.99 : 0.65 : Estimated northing and easting = 4074998.83 : 590685.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming - Offset (dn de ) = (19.7 4.2), t = 1288.79 r = 73.6m. : WaypointHoming has set the state to finished. : WaypointHoming (4074936.5, 590656.7), reached at t = 1288.79 (wplog) : Vehicle Position error is (-54.1, -51.9) : The projected distance to the waypoint is 74.9. : The usbl range to the waypoint is 73.6. : LayeredControl::execute() -- (t = 1288.801711) Behavior waypoint_homing:-1 has changed to state Finished : CameraServer::onContinuously - starting! : The StartCamera Behavior has executed at t = 1288.80; The camera will run until commanded to stop. : LayeredControl::execute() -- (t = 1288.801711) Behavior startCamera:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 1288.80 (wplog) The current location (N,E) = 4074990.5 , 590708.6 (wplog) The next waypoint = 4074955.6 , 590661.2 (wplog) The bearing to the next w.p. is 233.6 Degrees. : WaypointHoming:: Beacon is in the Usbl Fov at t = 1288.8 with dtw = 10000.00 : WaypointHoming: The Usbl has aquired the transponder at t = 1288.81 Seconds. : The vehicle position is (4074990.5, 590708.6) : LayeredControl::execute() -- (t = 1288.811710) Behavior waypoint_homing:-1 has changed to state Active : CameraDriver::readData - Turning the camera on. : SonardyneDriver::Stop : SonardyneDriver:: New transponder interrogation address is POS V4,5 : SonardyneDriver::Start : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=4.08 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202855.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1247.994507 : TerrainNav update at dvl time = 1247.994507 : _navData-> (x,y) = (4074989.87, 590708.05) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202856.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=4.08 speedMode=1 speed=1.00 : CameraDriver::Took a photo at Tue Mar 30 20:28:56 2010 . : NMEA Update: $GPGGA,202856.21,3648.9847,N,-12158.9798,W,1,03,00.5,078.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202857.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1247.99 : 6.79 : Estimated East Bias at time = 1247.99 : -23.11 : Estimated Depth Bias at time = 1247.99 : 0.65 : Estimated northing and easting = 4074996.66 : 590684.94 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=4.08 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202857.21,3648.9844,N,-12158.9802,W,1,03,00.5,078.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202858.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:28:57 2010 . : TerrainNav update at nav time = 1250.994301 : TerrainNav update at dvl time = 1250.994301 : _navData-> (x,y) = (4074987.94, 590706.38) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202858.21,3648.9840,N,-12158.9806,W,1,03,00.5,077.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202859.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=4.09 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202859.21,3648.9837,N,-12158.9809,W,1,03,00.5,078.3,M,-99.9,M,,*41 : CameraDriver::Took a photo at Tue Mar 30 20:28:59 2010 . : AshtechGps::processRecord() - $GPGGA,202900.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1250.99 : 6.56 : Estimated East Bias at time = 1250.99 : -23.29 : Estimated Depth Bias at time = 1250.99 : 0.65 : Estimated northing and easting = 4074994.50 : 590683.09 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.94 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202900.21,3648.9833,N,-12158.9813,W,1,03,00.5,077.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202901.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:29:00 2010 . : TerrainNav update at nav time = 1253.994096 : TerrainNav update at dvl time = 1253.994096 : _navData-> (x,y) = (4074985.99, 590704.74) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202901.21,3648.9830,N,-12158.9817,W,1,03,00.5,077.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.94 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202902.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202902.21,3648.9826,N,-12158.9821,W,1,03,00.5,077.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202903.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:29:02 2010 . : Estimated North Bias at time = 1253.99 : 6.35 : Estimated East Bias at time = 1253.99 : -23.20 : Estimated Depth Bias at time = 1253.99 : 0.64 : Estimated northing and easting = 4074992.34 : 590681.54 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.94 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202903.21,3648.9823,N,-12158.9824,W,1,03,00.5,076.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202904.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1256.993890 : TerrainNav update at dvl time = 1256.993890 : _navData-> (x,y) = (4074984.08, 590703.12) : _tercom->outstandingMeas() = 0 : CameraDriver::Took a photo at Tue Mar 30 20:29:04 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.94 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202904.21,3648.9820,N,-12158.9828,W,1,03,00.5,072.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202905.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming - Offset (dn de ) = (0.0 0.0), t = 1299.60 r = 61.5m. : NMEA Update: $GPGGA,202905.21,3648.9816,N,-12158.9831,W,1,03,00.5,072.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202906.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1256.99 : 6.11 : Estimated East Bias at time = 1256.99 : -23.14 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.94 speedMode=1 speed=1.00 : Estimated Depth Bias at time = 1256.99 : 0.64 : Estimated northing and easting = 4074990.19 : 590679.98 : CameraDriver::Took a photo at Tue Mar 30 20:29:05 2010 . : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming - Offset (dn de ) = (16.3 3.6), t = 1300.60 r = 60.3m. : NMEA Update: $GPGGA,202906.21,3648.9813,N,-12158.9835,W,1,03,00.5,072.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202907.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming - Offset (dn de ) = (16.3 3.2), t = 1301.80 r = 59.3m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.94 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1259.993685 : TerrainNav update at dvl time = 1259.993685 : _navData-> (x,y) = (4074982.16, 590701.50) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202907.21,3648.9809,N,-12158.9839,W,1,03,00.5,071.3,M,-99.9,M,,*4c : CameraDriver::Took a photo at Tue Mar 30 20:29:07 2010 . : AshtechGps::processRecord() - $GPGGA,202908.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming - Offset (dn de ) = (16.2 2.7), t = 1302.80 r = 58.2m. : NMEA Update: $GPGGA,202908.21,3648.9806,N,-12158.9843,W,1,03,00.5,071.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.93 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202909.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1259.99 : 6.25 : Estimated East Bias at time = 1259.99 : -23.16 : Estimated Depth Bias at time = 1259.99 : 0.64 : Estimated northing and easting = 4074988.42 : 590678.34 : CameraDriver::Took a photo at Tue Mar 30 20:29:08 2010 . : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming - Offset (dn de ) = (16.1 2.2), t = 1303.80 r = 57.2m. : NMEA Update: $GPGGA,202909.21,3648.9802,N,-12158.9847,W,1,03,00.5,076.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202910.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.93 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1262.993479 : TerrainNav update at dvl time = 1262.993479 : _navData-> (x,y) = (4074980.19, 590699.80) : _tercom->outstandingMeas() = 0 : WaypointHoming - Offset (dn de ) = (16.1 2.0), t = 1305.00 r = 56.4m. : NMEA Update: $GPGGA,202910.21,3648.9799,N,-12158.9850,W,1,03,00.5,076.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202911.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:29:10 2010 . : WaypointHoming - Offset (dn de ) = (16.1 1.5), t = 1306.00 r = 55.7m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.92 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202911.21,3648.9795,N,-12158.9854,W,1,03,00.5,076.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202912.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1262.99 : 5.88 : Estimated East Bias at time = 1262.99 : -22.43 : Estimated Depth Bias at time = 1262.99 : 0.64 : Estimated northing and easting = 4074986.06 : 590677.37 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : CameraDriver::Took a photo at Tue Mar 30 20:29:12 2010 . : WaypointHoming - Offset (dn de ) = (16.1 1.1), t = 1307.00 r = 54.8m. : NMEA Update: $GPGGA,202912.21,3648.9791,N,-12158.9858,W,1,03,00.5,074.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202913.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.92 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1265.993273 : TerrainNav update at dvl time = 1265.993273 : _navData-> (x,y) = (4074978.19, 590698.15) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202913.21,3648.9788,N,-12158.9862,W,1,03,00.5,076.8,M,-99.9,M,,*4d : WaypointHoming - Offset (dn de ) = (16.1 0.9), t = 1308.20 r = 53.8m. : AshtechGps::processRecord() - $GPGGA,202914.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:29:13 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.92 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202914.21,3648.9784,N,-12158.9865,W,1,03,00.5,075.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202915.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1265.99 : 5.89 : Estimated East Bias at time = 1265.99 : -22.52 : Estimated Depth Bias at time = 1265.99 : 0.64 : Estimated northing and easting = 4074984.08 : 590675.64 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,202915.21,3648.9781,N,-12158.9869,W,1,03,00.5,076.5,M,-99.9,M,,*44 : CameraDriver::Took a photo at Tue Mar 30 20:29:15 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.92 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202916.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1268.993068 : TerrainNav update at dvl time = 1268.993068 : _navData-> (x,y) = (4074976.19, 590696.56) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202916.21,3648.9777,N,-12158.9873,W,1,03,00.5,075.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202917.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.92 speedMode=1 speed=1.00 : CameraDriver::Took a photo at Tue Mar 30 20:29:16 2010 . : NMEA Update: $GPGGA,202917.21,3648.9774,N,-12158.9876,W,1,03,00.5,075.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202918.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1268.99 : 5.68 : Estimated East Bias at time = 1268.99 : -22.13 : Estimated Depth Bias at time = 1268.99 : 0.64 : Estimated northing and easting = 4074981.87 : 590674.44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.92 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202918.21,3648.9770,N,-12158.9880,W,1,03,00.5,075.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202919.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:29:18 2010 . : WaypointHoming - Offset (dn de ) = (16.1 0.7), t = 1313.60 r = 49.6m. : TerrainNav update at nav time = 1272.002862 : TerrainNav update at dvl time = 1272.002862 : _navData-> (x,y) = (4074974.21, 590694.95) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202919.21,3648.9767,N,-12158.9884,W,1,03,00.5,075.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202920.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.92 speedMode=1 speed=1.00 : WaypointHoming - Offset (dn de ) = (16.1 0.7), t = 1314.60 r = 49.1m. : CameraDriver::Took a photo at Tue Mar 30 20:29:20 2010 . : NMEA Update: $GPGGA,202920.21,3648.9763,N,-12158.9887,W,1,03,00.5,074.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202921.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1272.00 : 5.72 : Estimated East Bias at time = 1272.00 : -22.35 : Estimated Depth Bias at time = 1272.00 : 0.64 : Estimated northing and easting = 4074979.92 : 590672.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming - Offset (dn de ) = (15.9 1.0), t = 1315.60 r = 48.6m. : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.93 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202921.21,3648.9760,N,-12158.9891,W,1,03,00.5,074.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202922.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:29:21 2010 . : WaypointHoming - Offset (dn de ) = (15.7 1.7), t = 1316.60 r = 47.7m. : TerrainNav update at nav time = 1275.002656 : TerrainNav update at dvl time = 1275.002656 : _navData-> (x,y) = (4074972.27, 590693.22) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202922.21,3648.9756,N,-12158.9895,W,1,03,00.5,074.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.95 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202923.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming - Offset (dn de ) = (15.1 1.8), t = 1317.80 r = 46.8m. : NMEA Update: $GPGGA,202923.21,3648.9753,N,-12158.9899,W,1,03,00.5,073.7,M,-99.9,M,,*46 : CameraDriver::Took a photo at Tue Mar 30 20:29:23 2010 . : AshtechGps::processRecord() - $GPGGA,202924.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1275.00 : 5.60 : Estimated East Bias at time = 1275.00 : -22.28 : Estimated Depth Bias at time = 1275.00 : 0.64 : Estimated northing and easting = 4074977.87 : 590670.94 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.96 speedMode=1 speed=1.00 : WaypointHoming - Offset (dn de ) = (15.0 2.0), t = 1318.80 r = 46.1m. : NMEA Update: $GPGGA,202924.21,3648.9750,N,-12158.9904,W,1,03,00.5,073.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202925.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:29:24 2010 . : WaypointHoming - Offset (dn de ) = (14.9 2.6), t = 1319.80 r = 45.5m. : TerrainNav update at nav time = 1278.002451 : TerrainNav update at dvl time = 1278.002451 : _navData-> (x,y) = (4074970.39, 590691.41) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.98 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202925.21,3648.9746,N,-12158.9908,W,1,03,00.5,073.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202926.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 1321.00 Seconds. : The vehicle position is is (4074969.6, 590690.7) : NMEA Update: $GPGGA,202926.21,3648.9743,N,-12158.9912,W,1,03,00.5,073.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202927.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:29:26 2010 . : Estimated North Bias at time = 1278.00 : 5.40 : Estimated East Bias at time = 1278.00 : -22.07 : Estimated Depth Bias at time = 1278.00 : 0.64 : Estimated northing and easting = 4074975.79 : 590669.34 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=3.98 speedMode=1 speed=1.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,202927.21,3648.9740,N,-12158.9916,W,1,03,00.5,072.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202928.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=3.98 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1281.002245 : TerrainNav update at dvl time = 1281.002245 : _navData-> (x,y) = (4074968.53, 590689.55) : _tercom->outstandingMeas() = 0 : CameraDriver::Took a photo at Tue Mar 30 20:29:28 2010 . : NMEA Update: $GPGGA,202928.21,3648.9736,N,-12158.9920,W,1,03,00.5,072.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202929.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202929.21,3648.9733,N,-12158.9925,W,1,03,00.5,072.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=3.98 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202930.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1281.00 : 5.11 : Estimated East Bias at time = 1281.00 : -21.81 : Estimated Depth Bias at time = 1281.00 : 0.64 : Estimated northing and easting = 4074973.65 : 590667.74 : CameraDriver::Took a photo at Tue Mar 30 20:29:29 2010 . : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,202930.21,3648.9730,N,-12158.9929,W,1,03,00.5,072.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202931.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=3.98 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1284.002040 : TerrainNav update at dvl time = 1284.002040 : _navData-> (x,y) = (4074966.70, 590687.69) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202931.21,3648.9726,N,-12158.9933,W,1,03,00.5,072.2,M,-99.9,M,,*42 : CameraDriver::Took a photo at Tue Mar 30 20:29:31 2010 . : AshtechGps::processRecord() - $GPGGA,202932.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=3.98 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202932.21,3648.9723,N,-12158.9937,W,1,03,00.5,072.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202933.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1284.00 : 4.84 : Estimated East Bias at time = 1284.00 : -21.55 : Estimated Depth Bias at time = 1284.00 : 0.64 : Estimated northing and easting = 4074971.53 : 590666.14 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : CameraDriver::Took a photo at Tue Mar 30 20:29:32 2010 . : NMEA Update: $GPGGA,202933.21,3648.9720,N,-12158.9942,W,1,03,00.5,071.8,M,-99.9,M,,*49 : WaypointHoming: The Usbl has aquired the transponder at t = 1328.20 Seconds. : The vehicle position is (4074965.3, 590686.2) : AshtechGps::processRecord() - $GPGGA,202934.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.98 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1287.001834 : TerrainNav update at dvl time = 1287.001834 : _navData-> (x,y) = (4074964.89, 590685.82) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202934.21,3648.9717,N,-12158.9946,W,1,03,00.5,071.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202935.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:29:34 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.98 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202935.21,3648.9714,N,-12158.9950,W,1,03,00.5,071.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202936.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1287.00 : 4.58 : Estimated East Bias at time = 1287.00 : -21.27 : Estimated Depth Bias at time = 1287.00 : 0.64 : Estimated northing and easting = 4074969.48 : 590664.54 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : CameraDriver::Took a photo at Tue Mar 30 20:29:36 2010 . : NMEA Update: $GPGGA,202936.21,3648.9710,N,-12158.9954,W,1,03,00.5,066.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.98 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202937.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1290.001629 : TerrainNav update at dvl time = 1290.001629 : _navData-> (x,y) = (4074963.15, 590684.02) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202937.21,3648.9708,N,-12158.9958,W,1,03,00.5,066.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202938.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:29:37 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.98 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202938.21,3648.9705,N,-12158.9962,W,1,03,00.5,066.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202939.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1290.00 : 4.23 : Estimated East Bias at time = 1290.00 : -20.98 : Estimated Depth Bias at time = 1290.00 : 0.64 : Estimated northing and easting = 4074967.38 : 590663.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.98 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202939.21,3648.9702,N,-12158.9965,W,1,03,00.5,067.0,M,-99.9,M,,*49 : CameraDriver::Took a photo at Tue Mar 30 20:29:39 2010 . : AshtechGps::processRecord() - $GPGGA,202940.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 1334.60 Seconds. : The vehicle position is is (4074961.6, 590682.4) : TerrainNav update at nav time = 1293.001423 : TerrainNav update at dvl time = 1293.001423 : _navData-> (x,y) = (4074961.49, 590682.33) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202940.21,3648.9699,N,-12158.9969,W,1,03,00.5,066.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202941.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=3.98 speedMode=1 speed=1.00 : WaypointHoming: The Usbl has aquired the transponder at t = 1335.60 Seconds. : The vehicle position is (4074961.1, 590681.9) : CameraDriver::Took a photo at Tue Mar 30 20:29:40 2010 . : NMEA Update: $GPGGA,202941.21,3648.9696,N,-12158.9973,W,1,03,00.5,066.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202942.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1293.00 : 3.95 : Estimated East Bias at time = 1293.00 : -20.64 : Estimated Depth Bias at time = 1293.00 : 0.64 : Estimated northing and easting = 4074965.44 : 590661.69 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.98 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202942.21,3648.9693,N,-12158.9977,W,1,03,00.5,066.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202943.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:29:42 2010 . : TerrainNav update at nav time = 1296.001218 : TerrainNav update at dvl time = 1296.001218 : _navData-> (x,y) = (4074959.86, 590680.59) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202943.21,3648.9690,N,-12158.9981,W,1,03,00.5,065.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.98 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202944.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:29:44 2010 . : NMEA Update: $GPGGA,202944.21,3648.9687,N,-12158.9985,W,1,03,00.5,066.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202945.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1296.00 : 3.73 : Estimated East Bias at time = 1296.00 : -20.35 : Estimated Depth Bias at time = 1296.00 : 0.64 : Estimated northing and easting = 4074963.59 : 590660.24 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=3.98 speedMode=1 speed=1.00 : WaypointHoming - Offset (dn de ) = (14.8 3.1), t = 1339.80 r = 47.1m. : NMEA Update: $GPGGA,202945.21,3648.9684,N,-12158.9989,W,1,03,00.5,065.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202946.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:29:45 2010 . : WaypointHoming: The Usbl does NOT detect the transponder at t = 1340.80 Seconds. : The vehicle position is is (4074958.2, 590678.8) : TerrainNav update at nav time = 1299.001012 : TerrainNav update at dvl time = 1299.001012 : _navData-> (x,y) = (4074958.22, 590678.83) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.01 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202946.21,3648.9681,N,-12158.9993,W,1,03,00.5,066.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202947.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202947.21,3648.9678,N,-12158.9997,W,1,03,00.5,066.4,M,-99.9,M,,*44 : CameraDriver::Took a photo at Tue Mar 30 20:29:47 2010 . : AshtechGps::processRecord() - $GPGGA,202948.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.01 speedMode=1 speed=1.00 : Estimated North Bias at time = 1299.00 : 3.70 : Estimated East Bias at time = 1299.00 : -20.79 : Estimated Depth Bias at time = 1299.00 : 0.64 : Estimated northing and easting = 4074961.92 : 590658.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,202948.21,3648.9675,N,-12159.0001,W,1,03,00.5,065.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202949.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:29:48 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.01 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1302.000807 : TerrainNav update at dvl time = 1302.000807 : _navData-> (x,y) = (4074956.56, 590677.01) : _tercom->outstandingMeas() = 0 : WaypointHoming: The Usbl has aquired the transponder at t = 1344.00 Seconds. : The vehicle position is (4074956.4, 590676.9) : WaypointHoming - Offset (dn de ) = (28.8 18.8), t = 1344.00 r = 50.0m. : NMEA Update: $GPGGA,202949.21,3648.9672,N,-12159.0005,W,1,03,00.5,066.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202950.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 1345.00 Seconds. : The vehicle position is is (4074955.9, 590676.3) : NMEA Update: $GPGGA,202950.21,3648.9669,N,-12159.0010,W,1,03,00.5,065.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.00 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202951.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:29:50 2010 . : Estimated North Bias at time = 1302.00 : 3.68 : Estimated East Bias at time = 1302.00 : -20.90 : Estimated Depth Bias at time = 1302.00 : 0.64 : Estimated northing and easting = 4074960.24 : 590656.11 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming: The Usbl has aquired the transponder at t = 1346.00 Seconds. : The vehicle position is (4074955.4, 590675.7) : WaypointHoming - Offset (dn de ) = (28.8 19.1), t = 1346.00 r = 51.0m. : NMEA Update: $GPGGA,202951.21,3648.9667,N,-12159.0014,W,1,03,00.5,066.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202952.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=4.01 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1305.000601 : TerrainNav update at dvl time = 1305.000601 : _navData-> (x,y) = (4074954.95, 590675.18) : _tercom->outstandingMeas() = 0 : CameraDriver::Took a photo at Tue Mar 30 20:29:52 2010 . : NMEA Update: $GPGGA,202952.21,3648.9664,N,-12159.0018,W,1,03,00.5,065.4,M,-99.9,M,,*48 : WaypointHoming - Offset (dn de ) = (28.8 19.7), t = 1347.20 r = 49.7m. : AshtechGps::processRecord() - $GPGGA,202953.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=4.02 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202953.21,3648.9661,N,-12159.0022,W,1,03,00.5,064.6,M,-99.9,M,,*46 : WaypointHoming - Offset (dn de ) = (28.8 20.2), t = 1348.20 r = 49.9m. : AshtechGps::processRecord() - $GPGGA,202954.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1305.00 : 3.36 : Estimated East Bias at time = 1305.00 : -20.44 : Estimated Depth Bias at time = 1305.00 : 0.64 : Estimated northing and easting = 4074958.31 : 590654.73 : CameraDriver::Took a photo at Tue Mar 30 20:29:53 2010 . : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,202954.21,3648.9658,N,-12159.0026,W,1,03,00.5,066.0,M,-99.9,M,,*4b : WaypointHoming - Offset (dn de ) = (28.8 20.2), t = 1349.20 r = 51.0m. : AshtechGps::processRecord() - $GPGGA,202955.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=4.03 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1308.000396 : TerrainNav update at dvl time = 1308.000396 : _navData-> (x,y) = (4074953.35, 590673.40) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202955.21,3648.9655,N,-12159.0030,W,1,03,00.5,064.7,M,-99.9,M,,*45 : CameraDriver::Took a photo at Tue Mar 30 20:29:55 2010 . : WaypointHoming: The Usbl does NOT detect the transponder at t = 1350.20 Seconds. : The vehicle position is is (4074953.1, 590673.2) : AshtechGps::processRecord() - $GPGGA,202956.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202956.21,3648.9652,N,-12159.0034,W,1,03,00.5,065.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202957.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1308.00 : 3.12 : Estimated East Bias at time = 1308.00 : -20.19 : Estimated Depth Bias at time = 1308.00 : 0.64 : Estimated northing and easting = 4074956.47 : 590653.21 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : CameraDriver::Took a photo at Tue Mar 30 20:29:56 2010 . : NMEA Update: $GPGGA,202957.21,3648.9649,N,-12159.0038,W,1,03,00.5,065.2,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202958.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1311.000190 : TerrainNav update at dvl time = 1311.000190 : _navData-> (x,y) = (4074951.66, 590671.53) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202958.21,3648.9646,N,-12159.0043,W,1,03,00.5,064.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202959.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:29:58 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202959.21,3648.9643,N,-12159.0047,W,1,03,00.5,065.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203000.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1311.00 : 2.71 : Estimated East Bias at time = 1311.00 : -19.61 : Estimated Depth Bias at time = 1311.00 : 0.64 : Estimated northing and easting = 4074954.37 : 590651.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : CameraDriver::Took a photo at Tue Mar 30 20:30:00 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203000.21,3648.9640,N,-12159.0051,W,1,03,00.5,064.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203001.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1313.999985 : TerrainNav update at dvl time = 1313.999985 : _navData-> (x,y) = (4074949.97, 590669.66) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203001.21,3648.9637,N,-12159.0056,W,1,03,00.5,065.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,203002.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : CameraDriver::Took a photo at Tue Mar 30 20:30:01 2010 . : NMEA Update: $GPGGA,203002.21,3648.9634,N,-12159.0060,W,1,03,00.5,064.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203003.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1314.00 : 2.57 : Estimated East Bias at time = 1314.00 : -19.77 : Estimated Depth Bias at time = 1314.00 : 0.64 : Estimated northing and easting = 4074952.53 : 590649.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203003.21,3648.9631,N,-12159.0064,W,1,03,00.5,065.2,M,-99.9,M,,*49 : CameraDriver::Took a photo at Tue Mar 30 20:30:03 2010 . : AshtechGps::processRecord() - $GPGGA,203004.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1316.999779 : TerrainNav update at dvl time = 1316.999779 : _navData-> (x,y) = (4074948.34, 590667.73) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203004.21,3648.9628,N,-12159.0069,W,1,03,00.5,063.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203005.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:30:04 2010 . : NMEA Update: $GPGGA,203005.21,3648.9626,N,-12159.0073,W,1,03,00.5,064.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203006.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1317.00 : 2.04 : Estimated East Bias at time = 1317.00 : -19.50 : Estimated Depth Bias at time = 1317.00 : 0.64 : Estimated northing and easting = 4074950.38 : 590648.24 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203006.21,3648.9623,N,-12159.0078,W,1,03,00.5,063.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203007.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:30:06 2010 . : TerrainNav update at nav time = 1319.999574 : TerrainNav update at dvl time = 1319.999574 : _navData-> (x,y) = (4074946.68, 590665.77) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203007.21,3648.9619,N,-12159.0082,W,1,03,00.5,064.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203008.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:30:08 2010 . : NMEA Update: $GPGGA,203008.21,3648.9616,N,-12159.0086,W,1,03,00.5,064.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203009.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1320.00 : 2.08 : Estimated East Bias at time = 1320.00 : -19.65 : Estimated Depth Bias at time = 1320.00 : 0.65 : Estimated northing and easting = 4074948.76 : 590646.12 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203009.21,3648.9613,N,-12159.0091,W,1,03,00.5,064.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203010.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:30:09 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1322.999368 : TerrainNav update at dvl time = 1322.999368 : _navData-> (x,y) = (4074944.99, 590663.88) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203010.21,3648.9610,N,-12159.0095,W,1,03,00.5,064.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203011.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203011.21,3648.9608,N,-12159.0099,W,1,03,00.5,064.0,M,-99.9,M,,*41 : CameraDriver::Took a photo at Tue Mar 30 20:30:11 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203012.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1323.00 : 2.11 : Estimated East Bias at time = 1323.00 : -20.02 : Estimated Depth Bias at time = 1323.00 : 0.65 : Estimated northing and easting = 4074947.10 : 590643.86 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203012.21,3648.9605,N,-12159.0104,W,1,03,00.5,064.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203013.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : CameraDriver::Took a photo at Tue Mar 30 20:30:12 2010 . : WaypointHoming: The Usbl has aquired the transponder at t = 1367.80 Seconds. : The vehicle position is (4074943.3, 590661.9) : TerrainNav update at nav time = 1325.999163 : TerrainNav update at dvl time = 1325.999163 : _navData-> (x,y) = (4074943.32, 590661.93) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203013.21,3648.9602,N,-12159.0108,W,1,03,00.5,064.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203014.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=4.03 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203014.21,3648.9599,N,-12159.0112,W,1,03,00.5,063.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,203015.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:30:14 2010 . : Estimated North Bias at time = 1326.00 : 2.26 : Estimated East Bias at time = 1326.00 : -20.35 : Estimated Depth Bias at time = 1326.00 : 0.66 : Estimated northing and easting = 4074945.58 : 590641.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203015.21,3648.9596,N,-12159.0117,W,1,03,00.5,063.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203016.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=4.03 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1328.998957 : TerrainNav update at dvl time = 1328.998957 : _navData-> (x,y) = (4074941.66, 590660.00) : _tercom->outstandingMeas() = 0 : CameraDriver::Took a photo at Tue Mar 30 20:30:16 2010 . : WaypointHoming: The Usbl does NOT detect the transponder at t = 1371.00 Seconds. : The vehicle position is is (4074941.6, 590659.9) : NMEA Update: $GPGGA,203016.21,3648.9593,N,-12159.0121,W,1,03,00.5,063.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203017.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : WaypointHoming: The Usbl has aquired the transponder at t = 1372.00 Seconds. : The vehicle position is (4074941.0, 590659.2) : NMEA Update: $GPGGA,203017.21,3648.9590,N,-12159.0125,W,1,03,00.5,062.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203018.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1329.00 : 2.35 : Estimated East Bias at time = 1329.00 : -20.65 : Estimated Depth Bias at time = 1329.00 : 0.66 : Estimated northing and easting = 4074944.01 : 590639.35 : CameraDriver::Took a photo at Tue Mar 30 20:30:17 2010 . : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming: The Usbl does NOT detect the transponder at t = 1373.00 Seconds. : The vehicle position is is (4074940.5, 590658.7) : NMEA Update: $GPGGA,203018.21,3648.9587,N,-12159.0129,W,1,03,00.5,063.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203019.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1331.998752 : TerrainNav update at dvl time = 1331.998752 : _navData-> (x,y) = (4074940.16, 590658.16) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203019.21,3648.9585,N,-12159.0134,W,1,03,00.5,063.0,M,-99.9,M,,*4e : CameraDriver::Took a photo at Tue Mar 30 20:30:19 2010 . : AshtechGps::processRecord() - $GPGGA,203020.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203020.21,3648.9582,N,-12159.0138,W,1,03,00.5,063.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203021.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1332.00 : 2.33 : Estimated East Bias at time = 1332.00 : -21.03 : Estimated Depth Bias at time = 1332.00 : 0.66 : Estimated northing and easting = 4074942.49 : 590637.13 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : CameraDriver::Took a photo at Tue Mar 30 20:30:20 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203021.21,3648.9579,N,-12159.0142,W,1,03,00.5,063.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203022.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1334.998546 : TerrainNav update at dvl time = 1334.998546 : _navData-> (x,y) = (4074938.60, 590656.30) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203022.21,3648.9576,N,-12159.0146,W,1,03,00.5,062.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203023.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:30:22 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203023.21,3648.9574,N,-12159.0150,W,1,03,00.5,063.5,M,-99.9,M,,*4e : WaypointHoming: The Usbl has aquired the transponder at t = 1378.20 Seconds. : The vehicle position is (4074937.9, 590655.4) : AshtechGps::processRecord() - $GPGGA,203024.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1335.00 : 2.65 : Estimated East Bias at time = 1335.00 : -21.40 : Estimated Depth Bias at time = 1335.00 : 0.66 : Estimated northing and easting = 4074941.25 : 590634.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=4.03 speedMode=1 speed=1.00 : CameraDriver::Took a photo at Tue Mar 30 20:30:24 2010 . : NMEA Update: $GPGGA,203024.21,3648.9571,N,-12159.0155,W,1,03,00.5,063.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203025.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1337.998341 : TerrainNav update at dvl time = 1337.998341 : _navData-> (x,y) = (4074936.99, 590654.40) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203025.21,3648.9568,N,-12159.0159,W,1,03,00.5,063.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=4.03 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203026.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:30:25 2010 . : NMEA Update: $GPGGA,203026.21,3648.9565,N,-12159.0163,W,1,03,00.5,062.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203027.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1338.00 : 2.47 : Estimated East Bias at time = 1338.00 : -21.31 : Estimated Depth Bias at time = 1338.00 : 0.66 : Estimated northing and easting = 4074939.46 : 590633.09 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=4.03 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203027.21,3648.9562,N,-12159.0168,W,1,03,00.5,062.0,M,-99.9,M,,*42 : CameraDriver::Took a photo at Tue Mar 30 20:30:27 2010 . : AshtechGps::processRecord() - $GPGGA,203028.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1340.998135 : TerrainNav update at dvl time = 1340.998135 : _navData-> (x,y) = (4074935.40, 590652.51) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=4.03 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203028.21,3648.9559,N,-12159.0172,W,1,03,00.5,063.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203029.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 1383.40 Seconds. : The vehicle position is is (4074935.1, 590652.1) : CameraDriver::Took a photo at Tue Mar 30 20:30:28 2010 . : NMEA Update: $GPGGA,203029.21,3648.9557,N,-12159.0176,W,1,03,00.5,062.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203030.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1341.00 : 2.23 : Estimated East Bias at time = 1341.00 : -21.34 : Estimated Depth Bias at time = 1341.00 : 0.67 : Estimated northing and easting = 4074937.63 : 590631.17 : WaypointHoming: The Usbl has aquired the transponder at t = 1384.40 Seconds. : The vehicle position is (4074934.6, 590651.5) : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=4.03 speedMode=1 speed=1.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203030.21,3648.9554,N,-12159.0181,W,1,03,00.5,061.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203031.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:30:30 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=4.03 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1343.997930 : TerrainNav update at dvl time = 1343.997930 : _navData-> (x,y) = (4074933.92, 590650.58) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203031.21,3648.9551,N,-12159.0185,W,1,03,00.5,062.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203032.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 1386.60 Seconds. : The vehicle position is is (4074933.5, 590650.1) : CameraDriver::Took a photo at Tue Mar 30 20:30:32 2010 . : NMEA Update: $GPGGA,203032.21,3648.9549,N,-12159.0189,W,1,03,00.5,061.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203033.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1344.00 : 2.02 : Estimated East Bias at time = 1344.00 : -21.30 : Estimated Depth Bias at time = 1344.00 : 0.67 : Estimated northing and easting = 4074935.94 : 590629.28 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203033.21,3648.9546,N,-12159.0194,W,1,03,00.5,061.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203034.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:30:33 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1346.997724 : TerrainNav update at dvl time = 1346.997724 : _navData-> (x,y) = (4074932.40, 590648.67) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203034.21,3648.9543,N,-12159.0198,W,1,03,00.5,062.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203035.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 1389.79 Seconds. : The vehicle position is (4074931.9, 590648.1) : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=4.03 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203035.21,3648.9540,N,-12159.0202,W,1,03,00.5,061.4,M,-99.9,M,,*49 : CameraDriver::Took a photo at Tue Mar 30 20:30:35 2010 . : AshtechGps::processRecord() - $GPGGA,203036.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1347.00 : 1.81 : Estimated East Bias at time = 1347.00 : -21.30 : Estimated Depth Bias at time = 1347.00 : 0.67 : Estimated northing and easting = 4074934.21 : 590627.37 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming: The Usbl does NOT detect the transponder at t = 1390.79 Seconds. : The vehicle position is is (4074931.3, 590647.4) : NMEA Update: $GPGGA,203036.21,3648.9537,N,-12159.0207,W,1,03,00.5,062.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203037.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : CameraDriver::Took a photo at Tue Mar 30 20:30:36 2010 . : WaypointHoming: The Usbl has aquired the transponder at t = 1391.79 Seconds. : The vehicle position is (4074930.8, 590646.8) : TerrainNav update at nav time = 1349.997519 : TerrainNav update at dvl time = 1349.997519 : _navData-> (x,y) = (4074930.80, 590646.79) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203037.21,3648.9535,N,-12159.0211,W,1,03,00.5,061.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203038.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 1392.79 Seconds. : The vehicle position is is (4074930.3, 590646.2) : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203038.21,3648.9532,N,-12159.0215,W,1,03,00.5,062.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,203039.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:30:38 2010 . : Estimated North Bias at time = 1350.00 : 1.90 : Estimated East Bias at time = 1350.00 : -21.40 : Estimated Depth Bias at time = 1350.00 : 0.67 : Estimated northing and easting = 4074932.71 : 590625.39 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203039.21,3648.9529,N,-12159.0219,W,1,03,00.5,061.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203040.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1352.997313 : TerrainNav update at dvl time = 1352.997313 : _navData-> (x,y) = (4074929.30, 590644.86) : _tercom->outstandingMeas() = 0 : CameraDriver::Took a photo at Tue Mar 30 20:30:40 2010 . : NMEA Update: $GPGGA,203040.21,3648.9527,N,-12159.0224,W,1,03,00.5,061.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203041.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203041.21,3648.9524,N,-12159.0228,W,1,03,00.5,061.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203042.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1353.00 : 1.68 : Estimated East Bias at time = 1353.00 : -21.29 : Estimated Depth Bias at time = 1353.00 : 0.67 : Estimated northing and easting = 4074930.98 : 590623.58 : CameraDriver::Took a photo at Tue Mar 30 20:30:41 2010 . : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203042.21,3648.9522,N,-12159.0232,W,1,03,00.5,061.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203043.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1355.997108 : TerrainNav update at dvl time = 1355.997108 : _navData-> (x,y) = (4074927.86, 590642.88) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203043.21,3648.9519,N,-12159.0238,W,1,03,00.5,060.7,M,-99.9,M,,*4f : CameraDriver::Took a photo at Tue Mar 30 20:30:43 2010 . : AshtechGps::processRecord() - $GPGGA,203044.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203044.21,3648.9516,N,-12159.0243,W,1,03,00.5,061.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203045.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1356.00 : 1.57 : Estimated East Bias at time = 1356.00 : -21.18 : Estimated Depth Bias at time = 1356.00 : 0.67 : Estimated northing and easting = 4074929.43 : 590621.70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : CameraDriver::Took a photo at Tue Mar 30 20:30:44 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.03 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203045.21,3648.9514,N,-12159.0248,W,1,03,00.5,061.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203046.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming has set the state to finished. : WaypointHoming (4074926.8, 590640.9), reached at t = 1400.39 (wplog) : Vehicle Position error is (0.2, -0.1) : The projected distance to the waypoint is -0.1. : The usbl range to the waypoint is 35.6. : LayeredControl::execute() -- (t = 1400.394066) Behavior waypoint_homing:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 1400.39 (wplog) The current location (N,E) = 4074926.6 , 590641.0 (wplog) The next waypoint = 4074917.3 , 590629.0 (wplog) The bearing to the next w.p. is 232.1 Degrees. : LayeredControl::execute() -- (t = 1400.404066) Behavior waypoint:-1 has changed to state Active : TerrainNav update at nav time = 1358.996902 : TerrainNav update at dvl time = 1358.996902 : _navData-> (x,y) = (4074926.40, 590640.72) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203046.21,3648.9511,N,-12159.0252,W,1,03,00.5,061.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203047.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:30:46 2010 . : SonardyneDriver::Stop : NMEA Update: $GPGGA,203047.21,3648.9509,N,-12159.0256,W,1,03,00.5,061.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203048.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1359.00 : 1.22 : Estimated East Bias at time = 1359.00 : -21.77 : Estimated Depth Bias at time = 1359.00 : 0.67 : Estimated northing and easting = 4074927.63 : 590618.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.05 speedMode=1 speed=1.50 : CameraDriver::Took a photo at Tue Mar 30 20:30:48 2010 . : NMEA Update: $GPGGA,203048.21,3648.9506,N,-12159.0261,W,1,03,00.5,061.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203049.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1361.996697 : TerrainNav update at dvl time = 1361.996697 : _navData-> (x,y) = (4074924.89, 590638.76) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203049.21,3648.9503,N,-12159.0265,W,1,03,00.5,061.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203050.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:30:49 2010 . : NMEA Update: $GPGGA,203050.21,3648.9500,N,-12159.0270,W,1,03,00.5,061.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203051.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1362.00 : 1.14 : Estimated East Bias at time = 1362.00 : -21.67 : Estimated Depth Bias at time = 1362.00 : 0.67 : Estimated northing and easting = 4074926.03 : 590617.09 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.05 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203051.21,3648.9497,N,-12159.0275,W,1,03,00.5,061.4,M,-99.9,M,,*40 : CameraDriver::Took a photo at Tue Mar 30 20:30:51 2010 . : AshtechGps::processRecord() - $GPGGA,203052.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1364.996491 : TerrainNav update at dvl time = 1364.996491 : _navData-> (x,y) = (4074923.20, 590636.56) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203052.21,3648.9494,N,-12159.0280,W,1,03,00.5,061.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203053.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:30:52 2010 . : NMEA Update: $GPGGA,203053.21,3648.9491,N,-12159.0286,W,1,03,00.5,060.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203054.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1365.00 : 1.25 : Estimated East Bias at time = 1365.00 : -21.60 : Estimated Depth Bias at time = 1365.00 : 0.66 : Estimated northing and easting = 4074924.45 : 590614.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203054.21,3648.9488,N,-12159.0291,W,1,03,00.5,061.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203055.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:30:54 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1367.996286 : TerrainNav update at dvl time = 1367.996286 : _navData-> (x,y) = (4074921.35, 590634.12) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203055.21,3648.9484,N,-12159.0297,W,1,03,00.5,060.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203056.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:30:56 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203056.21,3648.9480,N,-12159.0303,W,1,03,00.5,059.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203057.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1368.00 : 1.51 : Estimated East Bias at time = 1368.00 : -21.71 : Estimated Depth Bias at time = 1368.00 : 0.66 : Estimated northing and easting = 4074922.85 : 590612.42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203057.21,3648.9476,N,-12159.0308,W,1,03,00.5,060.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203058.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.05 speedMode=1 speed=1.50 : CameraDriver::Took a photo at Tue Mar 30 20:30:57 2010 . : TerrainNav update at nav time = 1370.996080 : TerrainNav update at dvl time = 1370.996080 : _navData-> (x,y) = (4074919.17, 590631.62) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203058.21,3648.9473,N,-12159.0314,W,1,03,00.5,059.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203059.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203059.20,3648.9469,N,-12159.0321,W,1,03,00.5,060.0,M,-99.9,M,,*4d : CameraDriver::Took a photo at Tue Mar 30 20:30:59 2010 . : AshtechGps::processRecord() - $GPGGA,203100.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1371.00 : 1.86 : Estimated East Bias at time = 1371.00 : -21.80 : Estimated Depth Bias at time = 1371.00 : 0.66 : Estimated northing and easting = 4074921.03 : 590609.82 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203100.20,3648.9465,N,-12159.0327,W,1,03,00.5,058.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=4.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203101.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Waypoint has set the state to finished. : Waypoint (4074917.3, 590629.0), reached at t = 1415.59 (wplog) : Vehicle Position is error is (0.1, 0.0) : LayeredControl::execute() -- (t = 1415.593025) Behavior waypoint:-1 has changed to state Finished : CameraServer::Shutting off the camera! : CameraServer::stop - Camera will stop after 1 photos. : LayeredControl::execute() -- (t = 1415.593025) Behavior stopCamera:-1 has changed to state Finished : WaypointDepth -- ERROR. Waypoint slope = 0.3945, causes a climb rate of 0.5505, which is too large. Aborting! : LayeredControl::execute() -- (t = 1415.603024) Behavior waypoint_depth:-1 has changed to state Active : WaypointDepth initialization: Begin waypoint control at t= 1415.60 (wplog) The current location (N,E) = 4074917.2 , 590629.0 (wplog) The next waypoint = 4074758.7 , 591347.7 (wplog) The bearing to the next w.p. is 102.4 Degrees. The distance to the next w.p. is 736.0 Meters. The slope to the next w.p. is 0.0883. The initial commanded depth is 80.0 meters. The final commanded depth is 15.0 meters. : LayeredControl::execute() -- (t = 1415.603024) Behavior waypoint_depth:-1 has changed to state Active : CameraDriver::Took a photo at Tue Mar 30 20:31:00 2010 . : WaypointDepth -- ERROR. Waypoint slope = 0.3944, causes a climb rate of 0.5503, which is too large. Aborting! : TerrainNav update at nav time = 1373.995875 : TerrainNav update at dvl time = 1373.995875 : _navData-> (x,y) = (4074917.00, 590628.83) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.3943, causes a climb rate of 0.5502, which is too large. Aborting! : NMEA Update: $GPGGA,203101.20,3648.9461,N,-12159.0333,W,1,03,00.5,059.6,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 0.3941, causes a climb rate of 0.5500, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203102.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.3940, causes a climb rate of 0.5499, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3939, causes a climb rate of 0.5497, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=80.06 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.3938, causes a climb rate of 0.5496, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3936, causes a climb rate of 0.5494, which is too large. Aborting! : NMEA Update: $GPGGA,203102.20,3648.9457,N,-12159.0339,W,1,03,00.5,059.1,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 0.3935, causes a climb rate of 0.5493, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203103.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 20:31:02 2010 . : Estimated North Bias at time = 1374.00 : 1.97 : Estimated East Bias at time = 1374.00 : -21.99 : Estimated Depth Bias at time = 1374.00 : 0.66 : WaypointDepth -- ERROR. Waypoint slope = 0.3934, causes a climb rate of 0.5491, which is too large. Aborting! : Estimated northing and easting = 4074918.97 : 590606.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.3932, causes a climb rate of 0.5490, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3931, causes a climb rate of 0.5488, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3930, causes a climb rate of 0.5487, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=80.15 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203103.20,3648.9452,N,-12159.0345,W,1,03,00.5,059.1,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 0.3929, causes a climb rate of 0.5485, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203104.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.3928, causes a climb rate of 0.5484, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3926, causes a climb rate of 0.5482, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3925, causes a climb rate of 0.5480, which is too large. Aborting! : TerrainNav update at nav time = 1376.995669 : TerrainNav update at dvl time = 1376.995669 : _navData-> (x,y) = (4074914.51, 590626.16) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.3924, causes a climb rate of 0.5479, which is too large. Aborting! : NMEA Update: $GPGGA,203104.20,3648.9447,N,-12159.0351,W,1,03,00.5,060.3,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 0.3923, causes a climb rate of 0.5478, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203105.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.3922, causes a climb rate of 0.5477, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=80.22 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.3921, causes a climb rate of 0.5476, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3920, causes a climb rate of 0.5475, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3920, causes a climb rate of 0.5474, which is too large. Aborting! : NMEA Update: $GPGGA,203105.20,3648.9442,N,-12159.0356,W,1,03,00.5,061.8,M,-99.9,M,,*45 : WaypointDepth -- ERROR. Waypoint slope = 0.3919, causes a climb rate of 0.5473, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203106.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1377.00 : 2.43 : Estimated East Bias at time = 1377.00 : -22.17 : Estimated Depth Bias at time = 1377.00 : 0.66 : Estimated northing and easting = 4074916.94 : 590603.98 : WaypointDepth -- ERROR. Waypoint slope = 0.3918, causes a climb rate of 0.5472, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.3918, causes a climb rate of 0.5472, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3917, causes a climb rate of 0.5471, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=80.27 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.3917, causes a climb rate of 0.5470, which is too large. Aborting! : NMEA Update: $GPGGA,203106.20,3648.9436,N,-12159.0359,W,1,03,00.5,064.3,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 0.3916, causes a climb rate of 0.5470, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203107.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.3916, causes a climb rate of 0.5470, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3916, causes a climb rate of 0.5469, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3916, causes a climb rate of 0.5469, which is too large. Aborting! : TerrainNav update at nav time = 1379.995464 : TerrainNav update at dvl time = 1379.995464 : _navData-> (x,y) = (4074911.35, 590624.45) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.3916, causes a climb rate of 0.5469, which is too large. Aborting! : NMEA Update: $GPGGA,203107.20,3648.9430,N,-12159.0362,W,1,03,00.5,064.6,M,-99.9,M,,*4e : WaypointDepth -- ERROR. Waypoint slope = 0.3916, causes a climb rate of 0.5469, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=80.28 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203108.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.3916, causes a climb rate of 0.5469, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3916, causes a climb rate of 0.5469, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3916, causes a climb rate of 0.5470, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3917, causes a climb rate of 0.5470, which is too large. Aborting! : NMEA Update: $GPGGA,203108.20,3648.9424,N,-12159.0363,W,1,03,00.5,065.2,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 0.3917, causes a climb rate of 0.5471, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203109.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1380.00 : 2.76 : Estimated East Bias at time = 1380.00 : -23.06 : Estimated Depth Bias at time = 1380.00 : 0.66 : Estimated northing and easting = 4074914.11 : 590601.40 : WaypointDepth -- ERROR. Waypoint slope = 0.3917, causes a climb rate of 0.5471, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.3918, causes a climb rate of 0.5472, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=80.26 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.3919, causes a climb rate of 0.5473, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3919, causes a climb rate of 0.5474, which is too large. Aborting! : NMEA Update: $GPGGA,203109.20,3648.9417,N,-12159.0362,W,1,03,00.5,066.3,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 0.3920, causes a climb rate of 0.5475, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203110.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.3921, causes a climb rate of 0.5475, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3922, causes a climb rate of 0.5476, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3923, causes a climb rate of 0.5478, which is too large. Aborting! : TerrainNav update at nav time = 1382.995258 : TerrainNav update at dvl time = 1382.995258 : _navData-> (x,y) = (4074907.85, 590624.53) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.3924, causes a climb rate of 0.5479, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=80.20 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203110.20,3648.9411,N,-12159.0361,W,1,03,00.5,067.5,M,-99.9,M,,*48 : WaypointDepth -- ERROR. Waypoint slope = 0.3925, causes a climb rate of 0.5480, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203111.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.3926, causes a climb rate of 0.5481, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3927, causes a climb rate of 0.5483, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3928, causes a climb rate of 0.5484, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3929, causes a climb rate of 0.5486, which is too large. Aborting! : NMEA Update: $GPGGA,203111.20,3648.9406,N,-12159.0358,W,1,03,00.5,067.8,M,-99.9,M,,*48 : WaypointDepth -- ERROR. Waypoint slope = 0.3931, causes a climb rate of 0.5487, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203112.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.3932, causes a climb rate of 0.5489, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=80.12 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 1383.00 : 3.23 : Estimated East Bias at time = 1383.00 : -24.85 : Estimated Depth Bias at time = 1383.00 : 0.66 : Estimated northing and easting = 4074911.08 : 590599.68 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.3933, causes a climb rate of 0.5491, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3935, causes a climb rate of 0.5492, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3936, causes a climb rate of 0.5494, which is too large. Aborting! : NMEA Update: $GPGGA,203112.20,3648.9401,N,-12159.0354,W,1,03,00.5,067.7,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 0.3938, causes a climb rate of 0.5496, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203113.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.3939, causes a climb rate of 0.5498, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3941, causes a climb rate of 0.5500, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3942, causes a climb rate of 0.5501, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=80.01 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1385.995053 : TerrainNav update at dvl time = 1385.995053 : _navData-> (x,y) = (4074905.06, 590626.20) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.3944, causes a climb rate of 0.5503, which is too large. Aborting! : NMEA Update: $GPGGA,203113.20,3648.9396,N,-12159.0349,W,1,03,00.5,067.2,M,-99.9,M,,*4e : WaypointDepth -- ERROR. Waypoint slope = 0.3946, causes a climb rate of 0.5505, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203114.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.3947, causes a climb rate of 0.5507, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3949, causes a climb rate of 0.5509, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3951, causes a climb rate of 0.5511, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3952, causes a climb rate of 0.5513, which is too large. Aborting! : NMEA Update: $GPGGA,203114.20,3648.9393,N,-12159.0344,W,1,03,00.5,066.5,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 0.3954, causes a climb rate of 0.5516, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=79.90 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203115.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1386.00 : 2.05 : Estimated East Bias at time = 1386.00 : -26.41 : Estimated Depth Bias at time = 1386.00 : 0.66 : Estimated northing and easting = 4074907.11 : 590599.78 : WaypointDepth -- ERROR. Waypoint slope = 0.3956, causes a climb rate of 0.5518, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.3958, causes a climb rate of 0.5520, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3960, causes a climb rate of 0.5522, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3962, causes a climb rate of 0.5525, which is too large. Aborting! : NMEA Update: $GPGGA,203115.20,3648.9391,N,-12159.0338,W,1,03,00.5,064.7,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 0.3963, causes a climb rate of 0.5527, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203116.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.3965, causes a climb rate of 0.5529, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3967, causes a climb rate of 0.5531, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=79.77 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.3969, causes a climb rate of 0.5534, which is too large. Aborting! : TerrainNav update at nav time = 1388.994847 : TerrainNav update at dvl time = 1388.994847 : _navData-> (x,y) = (4074903.53, 590628.86) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.3971, causes a climb rate of 0.5536, which is too large. Aborting! : NMEA Update: $GPGGA,203116.20,3648.9388,N,-12159.0331,W,1,03,00.5,062.5,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 0.3973, causes a climb rate of 0.5538, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203117.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.3975, causes a climb rate of 0.5541, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3977, causes a climb rate of 0.5543, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3979, causes a climb rate of 0.5545, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3981, causes a climb rate of 0.5548, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=79.64 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203117.20,3648.9387,N,-12159.0324,W,1,03,00.5,061.0,M,-99.9,M,,*45 : WaypointDepth -- ERROR. Waypoint slope = 0.3983, causes a climb rate of 0.5550, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203118.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1388.99 : -0.63 : Estimated East Bias at time = 1388.99 : -26.98 : Estimated Depth Bias at time = 1388.99 : 0.64 : Estimated northing and easting = 4074902.91 : 590601.88 : WaypointDepth -- ERROR. Waypoint slope = 0.3985, causes a climb rate of 0.5552, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.3986, causes a climb rate of 0.5555, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3988, causes a climb rate of 0.5557, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3990, causes a climb rate of 0.5559, which is too large. Aborting! : NMEA Update: $GPGGA,203118.20,3648.9386,N,-12159.0318,W,1,03,00.5,059.6,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 0.3992, causes a climb rate of 0.5561, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203119.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.3994, causes a climb rate of 0.5564, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=79.52 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.3996, causes a climb rate of 0.5566, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.3998, causes a climb rate of 0.5568, which is too large. Aborting! : TerrainNav update at nav time = 1391.994642 : TerrainNav update at dvl time = 1391.994642 : _navData-> (x,y) = (4074902.93, 590631.88) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4000, causes a climb rate of 0.5570, which is too large. Aborting! : NMEA Update: $GPGGA,203119.20,3648.9385,N,-12159.0311,W,1,03,00.5,061.8,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 0.4002, causes a climb rate of 0.5573, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203120.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4003, causes a climb rate of 0.5575, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4005, causes a climb rate of 0.5577, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4007, causes a climb rate of 0.5579, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=79.40 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.4009, causes a climb rate of 0.5581, which is too large. Aborting! : NMEA Update: $GPGGA,203120.20,3648.9386,N,-12159.0304,W,1,03,00.5,059.0,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 0.4011, causes a climb rate of 0.5584, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203121.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1391.99 : -2.52 : Estimated East Bias at time = 1391.99 : -28.62 : Estimated Depth Bias at time = 1391.99 : 0.65 : Estimated northing and easting = 4074900.41 : 590603.26 : WaypointDepth -- ERROR. Waypoint slope = 0.4012, causes a climb rate of 0.5586, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4014, causes a climb rate of 0.5588, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4016, causes a climb rate of 0.5590, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4018, causes a climb rate of 0.5592, which is too large. Aborting! : NMEA Update: $GPGGA,203121.20,3648.9386,N,-12159.0297,W,1,03,00.5,058.4,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 0.4020, causes a climb rate of 0.5594, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=79.28 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203122.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4021, causes a climb rate of 0.5596, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4023, causes a climb rate of 0.5599, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4025, causes a climb rate of 0.5601, which is too large. Aborting! : TerrainNav update at nav time = 1394.994436 : TerrainNav update at dvl time = 1394.994436 : _navData-> (x,y) = (4074903.32, 590634.87) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4027, causes a climb rate of 0.5603, which is too large. Aborting! : NMEA Update: $GPGGA,203122.21,3648.9388,N,-12159.0291,W,1,03,00.5,056.7,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 0.4028, causes a climb rate of 0.5605, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203123.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4030, causes a climb rate of 0.5607, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4032, causes a climb rate of 0.5609, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=79.17 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.4034, causes a climb rate of 0.5611, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4036, causes a climb rate of 0.5613, which is too large. Aborting! : NMEA Update: $GPGGA,203123.21,3648.9389,N,-12159.0284,W,1,03,00.5,054.0,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 0.4037, causes a climb rate of 0.5616, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203124.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1394.99 : -4.15 : Estimated East Bias at time = 1394.99 : -29.57 : Estimated Depth Bias at time = 1394.99 : 0.66 : Estimated northing and easting = 4074899.17 : 590605.30 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4039, causes a climb rate of 0.5618, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4041, causes a climb rate of 0.5620, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4043, causes a climb rate of 0.5622, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4045, causes a climb rate of 0.5624, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=79.05 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203124.21,3648.9391,N,-12159.0277,W,1,03,00.5,053.5,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 0.4046, causes a climb rate of 0.5626, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203125.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4048, causes a climb rate of 0.5629, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4050, causes a climb rate of 0.5631, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4052, causes a climb rate of 0.5633, which is too large. Aborting! : TerrainNav update at nav time = 1397.994231 : TerrainNav update at dvl time = 1397.994231 : _navData-> (x,y) = (4074904.28, 590637.91) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4054, causes a climb rate of 0.5635, which is too large. Aborting! : NMEA Update: $GPGGA,203125.21,3648.9393,N,-12159.0270,W,1,03,00.5,052.8,M,-99.9,M,,*48 : WaypointDepth -- ERROR. Waypoint slope = 0.4055, causes a climb rate of 0.5637, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203126.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4057, causes a climb rate of 0.5640, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=78.94 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.4059, causes a climb rate of 0.5642, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4061, causes a climb rate of 0.5644, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4063, causes a climb rate of 0.5646, which is too large. Aborting! : NMEA Update: $GPGGA,203126.21,3648.9395,N,-12159.0263,W,1,03,00.5,051.8,M,-99.9,M,,*4c : Estimated North Bias at time = 1397.99 : -5.46 : Estimated East Bias at time = 1397.99 : -29.80 : Estimated Depth Bias at time = 1397.99 : 0.67 : Estimated northing and easting = 4074898.82 : 590608.11 : WaypointDepth -- ERROR. Waypoint slope = 0.4065, causes a climb rate of 0.5648, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203127.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4067, causes a climb rate of 0.5651, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4069, causes a climb rate of 0.5653, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4071, causes a climb rate of 0.5655, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=78.82 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.4073, causes a climb rate of 0.5658, which is too large. Aborting! : NMEA Update: $GPGGA,203127.21,3648.9397,N,-12159.0256,W,1,03,00.5,051.8,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 0.4075, causes a climb rate of 0.5660, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203128.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4077, causes a climb rate of 0.5662, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4079, causes a climb rate of 0.5665, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4081, causes a climb rate of 0.5667, which is too large. Aborting! : TerrainNav update at nav time = 1400.994025 : TerrainNav update at dvl time = 1400.994025 : _navData-> (x,y) = (4074905.45, 590641.16) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4083, causes a climb rate of 0.5670, which is too large. Aborting! : NMEA Update: $GPGGA,203128.21,3648.9399,N,-12159.0248,W,1,03,00.5,051.0,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 0.4085, causes a climb rate of 0.5672, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=78.69 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203129.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4087, causes a climb rate of 0.5674, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4089, causes a climb rate of 0.5677, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4091, causes a climb rate of 0.5679, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4093, causes a climb rate of 0.5682, which is too large. Aborting! : NMEA Update: $GPGGA,203129.21,3648.9401,N,-12159.0240,W,1,03,00.5,050.1,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 0.4095, causes a climb rate of 0.5684, which is too large. Aborting! : Estimated North Bias at time = 1400.99 : -6.99 : Estimated East Bias at time = 1400.99 : -29.65 : Estimated Depth Bias at time = 1400.99 : 0.67 : Estimated northing and easting = 4074898.46 : 590611.50 : AshtechGps::processRecord() - $GPGGA,203130.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4097, causes a climb rate of 0.5687, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4099, causes a climb rate of 0.5689, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=78.57 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.4101, causes a climb rate of 0.5692, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4103, causes a climb rate of 0.5694, which is too large. Aborting! : NMEA Update: $GPGGA,203130.21,3648.9403,N,-12159.0232,W,1,03,00.5,049.5,M,-99.9,M,,*43 : WaypointDepth -- ERROR. Waypoint slope = 0.4105, causes a climb rate of 0.5697, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203131.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4108, causes a climb rate of 0.5699, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4110, causes a climb rate of 0.5702, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4112, causes a climb rate of 0.5705, which is too large. Aborting! : TerrainNav update at nav time = 1403.993820 : TerrainNav update at dvl time = 1403.993820 : _navData-> (x,y) = (4074906.63, 590644.64) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4114, causes a climb rate of 0.5707, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=78.43 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203131.21,3648.9405,N,-12159.0224,W,1,03,00.5,049.4,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 0.4116, causes a climb rate of 0.5710, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203132.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4119, causes a climb rate of 0.5712, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4121, causes a climb rate of 0.5715, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4123, causes a climb rate of 0.5718, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4125, causes a climb rate of 0.5720, which is too large. Aborting! : NMEA Update: $GPGGA,203132.21,3648.9407,N,-12159.0216,W,1,03,00.5,049.4,M,-99.9,M,,*42 : Estimated North Bias at time = 1403.99 : -8.27 : Estimated East Bias at time = 1403.99 : -29.63 : Estimated Depth Bias at time = 1403.99 : 0.68 : Estimated northing and easting = 4074898.35 : 590615.01 : WaypointDepth -- ERROR. Waypoint slope = 0.4128, causes a climb rate of 0.5723, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203133.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4130, causes a climb rate of 0.5726, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=78.30 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.4132, causes a climb rate of 0.5728, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4134, causes a climb rate of 0.5731, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4137, causes a climb rate of 0.5734, which is too large. Aborting! : NMEA Update: $GPGGA,203133.21,3648.9409,N,-12159.0208,W,1,03,00.5,048.8,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 0.4139, causes a climb rate of 0.5736, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203134.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4141, causes a climb rate of 0.5739, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4144, causes a climb rate of 0.5742, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4146, causes a climb rate of 0.5745, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=78.16 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1406.993614 : TerrainNav update at dvl time = 1406.993614 : _navData-> (x,y) = (4074907.71, 590648.31) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4148, causes a climb rate of 0.5748, which is too large. Aborting! : NMEA Update: $GPGGA,203134.21,3648.9411,N,-12159.0200,W,1,03,00.5,048.8,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 0.4151, causes a climb rate of 0.5750, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203135.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4153, causes a climb rate of 0.5753, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4155, causes a climb rate of 0.5756, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4158, causes a climb rate of 0.5759, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4160, causes a climb rate of 0.5762, which is too large. Aborting! : NMEA Update: $GPGGA,203135.21,3648.9413,N,-12159.0191,W,1,03,00.5,049.5,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 0.4163, causes a climb rate of 0.5765, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=78.01 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 1406.99 : -9.61 : Estimated East Bias at time = 1406.99 : -29.50 : Estimated Depth Bias at time = 1406.99 : 0.68 : Estimated northing and easting = 4074898.10 : 590618.81 : AshtechGps::processRecord() - $GPGGA,203136.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4165, causes a climb rate of 0.5767, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4168, causes a climb rate of 0.5770, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4170, causes a climb rate of 0.5773, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4173, causes a climb rate of 0.5776, which is too large. Aborting! : NMEA Update: $GPGGA,203136.21,3648.9414,N,-12159.0182,W,1,03,00.5,048.5,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 0.4175, causes a climb rate of 0.5779, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203137.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4177, causes a climb rate of 0.5782, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4180, causes a climb rate of 0.5785, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=77.86 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.4183, causes a climb rate of 0.5788, which is too large. Aborting! : TerrainNav update at nav time = 1409.993409 : TerrainNav update at dvl time = 1409.993409 : _navData-> (x,y) = (4074908.72, 590652.19) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4185, causes a climb rate of 0.5791, which is too large. Aborting! : NMEA Update: $GPGGA,203137.21,3648.9416,N,-12159.0173,W,1,03,00.5,049.4,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 0.4188, causes a climb rate of 0.5794, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203138.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4190, causes a climb rate of 0.5797, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4193, causes a climb rate of 0.5800, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4195, causes a climb rate of 0.5803, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4198, causes a climb rate of 0.5806, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=77.71 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203138.21,3648.9418,N,-12159.0164,W,1,03,00.5,050.0,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 0.4200, causes a climb rate of 0.5809, which is too large. Aborting! : Estimated North Bias at time = 1409.99 : -10.51 : Estimated East Bias at time = 1409.99 : -29.23 : Estimated Depth Bias at time = 1409.99 : 0.68 : Estimated northing and easting = 4074898.21 : 590622.97 : AshtechGps::processRecord() - $GPGGA,203139.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4203, causes a climb rate of 0.5812, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4206, causes a climb rate of 0.5815, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4208, causes a climb rate of 0.5818, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4211, causes a climb rate of 0.5821, which is too large. Aborting! : NMEA Update: $GPGGA,203139.21,3648.9419,N,-12159.0155,W,1,03,00.5,048.8,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 0.4214, causes a climb rate of 0.5824, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203140.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4216, causes a climb rate of 0.5828, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=77.55 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.4219, causes a climb rate of 0.5831, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4222, causes a climb rate of 0.5834, which is too large. Aborting! : TerrainNav update at nav time = 1412.993203 : TerrainNav update at dvl time = 1412.993203 : _navData-> (x,y) = (4074909.59, 590656.23) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4224, causes a climb rate of 0.5837, which is too large. Aborting! : NMEA Update: $GPGGA,203140.21,3648.9420,N,-12159.0146,W,1,03,00.5,049.4,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 0.4227, causes a climb rate of 0.5840, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203141.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4230, causes a climb rate of 0.5844, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4233, causes a climb rate of 0.5847, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4235, causes a climb rate of 0.5850, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=77.39 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.4238, causes a climb rate of 0.5853, which is too large. Aborting! : NMEA Update: $GPGGA,203141.21,3648.9421,N,-12159.0137,W,1,03,00.5,049.4,M,-99.9,M,,*42 : Estimated North Bias at time = 1412.99 : -11.76 : Estimated East Bias at time = 1412.99 : -29.24 : WaypointDepth -- ERROR. Waypoint slope = 0.4241, causes a climb rate of 0.5856, which is too large. Aborting! : Estimated Depth Bias at time = 1412.99 : 0.68 : Estimated northing and easting = 4074897.83 : 590626.99 : AshtechGps::processRecord() - $GPGGA,203142.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4244, causes a climb rate of 0.5860, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4246, causes a climb rate of 0.5863, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4249, causes a climb rate of 0.5866, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4252, causes a climb rate of 0.5870, which is too large. Aborting! : NMEA Update: $GPGGA,203142.21,3648.9422,N,-12159.0127,W,1,03,00.5,049.4,M,-99.9,M,,*43 : WaypointDepth -- ERROR. Waypoint slope = 0.4255, causes a climb rate of 0.5873, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=77.23 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203143.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4258, causes a climb rate of 0.5876, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4261, causes a climb rate of 0.5880, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4264, causes a climb rate of 0.5883, which is too large. Aborting! : TerrainNav update at nav time = 1415.992998 : TerrainNav update at dvl time = 1415.992998 : _navData-> (x,y) = (4074910.18, 590660.41) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4266, causes a climb rate of 0.5886, which is too large. Aborting! : NMEA Update: $GPGGA,203143.21,3648.9423,N,-12159.0118,W,1,03,00.5,049.1,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 0.4269, causes a climb rate of 0.5890, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203144.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4272, causes a climb rate of 0.5893, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4275, causes a climb rate of 0.5897, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=77.06 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.4278, causes a climb rate of 0.5900, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4281, causes a climb rate of 0.5903, which is too large. Aborting! : NMEA Update: $GPGGA,203144.21,3648.9424,N,-12159.0108,W,1,03,00.5,048.9,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 0.4284, causes a climb rate of 0.5907, which is too large. Aborting! : Estimated North Bias at time = 1415.99 : -12.52 : Estimated East Bias at time = 1415.99 : -28.77 : Estimated Depth Bias at time = 1415.99 : 0.68 : Estimated northing and easting = 4074897.65 : 590631.63 : AshtechGps::processRecord() - $GPGGA,203145.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4287, causes a climb rate of 0.5910, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4290, causes a climb rate of 0.5914, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4293, causes a climb rate of 0.5917, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4296, causes a climb rate of 0.5921, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=76.89 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203145.21,3648.9424,N,-12159.0098,W,1,03,00.5,050.7,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 0.4299, causes a climb rate of 0.5924, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203146.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4302, causes a climb rate of 0.5928, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4305, causes a climb rate of 0.5932, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4308, causes a climb rate of 0.5935, which is too large. Aborting! : TerrainNav update at nav time = 1419.002792 : TerrainNav update at dvl time = 1419.002792 : _navData-> (x,y) = (4074910.50, 590664.72) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4311, causes a climb rate of 0.5939, which is too large. Aborting! : NMEA Update: $GPGGA,203146.21,3648.9424,N,-12159.0089,W,1,03,00.5,050.9,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 0.4314, causes a climb rate of 0.5942, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203147.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4318, causes a climb rate of 0.5946, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=76.72 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.4321, causes a climb rate of 0.5949, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4324, causes a climb rate of 0.5953, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4327, causes a climb rate of 0.5957, which is too large. Aborting! : NMEA Update: $GPGGA,203147.21,3648.9425,N,-12159.0079,W,1,03,00.5,051.0,M,-99.9,M,,*46 : Estimated North Bias at time = 1419.00 : -13.45 : WaypointDepth -- ERROR. Waypoint slope = 0.4330, causes a climb rate of 0.5960, which is too large. Aborting! : Estimated East Bias at time = 1419.00 : -28.97 : Estimated Depth Bias at time = 1419.00 : 0.69 : Estimated northing and easting = 4074897.05 : 590635.75 : AshtechGps::processRecord() - $GPGGA,203148.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4333, causes a climb rate of 0.5964, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4336, causes a climb rate of 0.5968, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4340, causes a climb rate of 0.5971, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=76.54 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.4343, causes a climb rate of 0.5975, which is too large. Aborting! : NMEA Update: $GPGGA,203148.21,3648.9424,N,-12159.0069,W,1,03,00.5,051.3,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 0.4346, causes a climb rate of 0.5979, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203149.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4349, causes a climb rate of 0.5982, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4352, causes a climb rate of 0.5986, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4356, causes a climb rate of 0.5990, which is too large. Aborting! : TerrainNav update at nav time = 1422.002586 : TerrainNav update at dvl time = 1422.002586 : _navData-> (x,y) = (4074910.50, 590669.12) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4359, causes a climb rate of 0.5994, which is too large. Aborting! : NMEA Update: $GPGGA,203149.21,3648.9424,N,-12159.0059,W,1,03,00.5,051.6,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 0.4362, causes a climb rate of 0.5997, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=76.36 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203150.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4365, causes a climb rate of 0.6001, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4369, causes a climb rate of 0.6005, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4372, causes a climb rate of 0.6009, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4375, causes a climb rate of 0.6013, which is too large. Aborting! : NMEA Update: $GPGGA,203150.21,3648.9424,N,-12159.0049,W,1,03,00.5,051.9,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 0.4379, causes a climb rate of 0.6017, which is too large. Aborting! : Estimated North Bias at time = 1422.00 : -14.73 : Estimated East Bias at time = 1422.00 : -29.25 : Estimated Depth Bias at time = 1422.00 : 0.69 : Estimated northing and easting = 4074895.76 : 590639.86 : AshtechGps::processRecord() - $GPGGA,203151.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4382, causes a climb rate of 0.6020, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4385, causes a climb rate of 0.6024, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=76.18 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.4389, causes a climb rate of 0.6028, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4392, causes a climb rate of 0.6032, which is too large. Aborting! : NMEA Update: $GPGGA,203151.21,3648.9423,N,-12159.0039,W,1,03,00.5,052.4,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 0.4396, causes a climb rate of 0.6036, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203152.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4399, causes a climb rate of 0.6040, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4402, causes a climb rate of 0.6044, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4406, causes a climb rate of 0.6048, which is too large. Aborting! : TerrainNav update at nav time = 1425.002381 : TerrainNav update at dvl time = 1425.002381 : _navData-> (x,y) = (4074910.17, 590673.59) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4409, causes a climb rate of 0.6052, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=76.00 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203152.21,3648.9422,N,-12159.0029,W,1,03,00.5,053.0,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 0.4412, causes a climb rate of 0.6055, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203153.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4416, causes a climb rate of 0.6059, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4419, causes a climb rate of 0.6063, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4423, causes a climb rate of 0.6067, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4426, causes a climb rate of 0.6071, which is too large. Aborting! : NMEA Update: $GPGGA,203153.21,3648.9421,N,-12159.0019,W,1,03,00.5,053.1,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 0.4430, causes a climb rate of 0.6075, which is too large. Aborting! : Estimated North Bias at time = 1425.00 : -15.28 : Estimated East Bias at time = 1425.00 : -29.32 : Estimated Depth Bias at time = 1425.00 : 0.70 : Estimated northing and easting = 4074894.89 : 590644.27 : AshtechGps::processRecord() - $GPGGA,203154.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4433, causes a climb rate of 0.6079, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=75.81 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.4437, causes a climb rate of 0.6083, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4440, causes a climb rate of 0.6087, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4444, causes a climb rate of 0.6091, which is too large. Aborting! : NMEA Update: $GPGGA,203154.21,3648.9420,N,-12159.0009,W,1,03,00.5,051.9,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 0.4447, causes a climb rate of 0.6095, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203155.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4451, causes a climb rate of 0.6099, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4454, causes a climb rate of 0.6103, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4458, causes a climb rate of 0.6107, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=75.62 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1428.002175 : TerrainNav update at dvl time = 1428.002175 : _navData-> (x,y) = (4074909.57, 590678.08) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4461, causes a climb rate of 0.6111, which is too large. Aborting! : NMEA Update: $GPGGA,203155.21,3648.9418,N,-12158.9999,W,1,03,00.5,052.8,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 0.4465, causes a climb rate of 0.6116, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203156.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4469, causes a climb rate of 0.6120, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4472, causes a climb rate of 0.6124, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4476, causes a climb rate of 0.6128, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4479, causes a climb rate of 0.6132, which is too large. Aborting! : NMEA Update: $GPGGA,203156.21,3648.9417,N,-12158.9989,W,1,03,00.5,052.3,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 0.4483, causes a climb rate of 0.6136, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=75.44 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 1428.00 : -15.97 : Estimated East Bias at time = 1428.00 : -29.40 : Estimated Depth Bias at time = 1428.00 : 0.70 : Estimated northing and easting = 4074893.60 : 590648.68 : AshtechGps::processRecord() - $GPGGA,203157.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4486, causes a climb rate of 0.6140, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4490, causes a climb rate of 0.6144, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4494, causes a climb rate of 0.6148, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4497, causes a climb rate of 0.6152, which is too large. Aborting! : NMEA Update: $GPGGA,203157.21,3648.9415,N,-12158.9979,W,1,03,00.5,052.1,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 0.4501, causes a climb rate of 0.6156, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203158.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4504, causes a climb rate of 0.6161, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4508, causes a climb rate of 0.6165, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=75.25 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.4512, causes a climb rate of 0.6169, which is too large. Aborting! : TerrainNav update at nav time = 1431.001970 : TerrainNav update at dvl time = 1431.001970 : _navData-> (x,y) = (4074908.73, 590682.57) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4515, causes a climb rate of 0.6173, which is too large. Aborting! : NMEA Update: $GPGGA,203158.21,3648.9414,N,-12158.9969,W,1,03,00.5,051.8,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 0.4519, causes a climb rate of 0.6177, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203159.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4523, causes a climb rate of 0.6181, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4526, causes a climb rate of 0.6186, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4530, causes a climb rate of 0.6190, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4534, causes a climb rate of 0.6194, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=75.06 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203159.21,3648.9412,N,-12158.9959,W,1,03,00.5,051.6,M,-99.9,M,,*48 : WaypointDepth -- ERROR. Waypoint slope = 0.4537, causes a climb rate of 0.6198, which is too large. Aborting! : Estimated North Bias at time = 1431.00 : -16.90 : Estimated East Bias at time = 1431.00 : -29.35 : Estimated Depth Bias at time = 1431.00 : 0.69 : Estimated northing and easting = 4074891.83 : 590653.22 : AshtechGps::processRecord() - $GPGGA,203200.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4541, causes a climb rate of 0.6202, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4545, causes a climb rate of 0.6206, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4549, causes a climb rate of 0.6211, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4552, causes a climb rate of 0.6215, which is too large. Aborting! : NMEA Update: $GPGGA,203200.21,3648.9410,N,-12158.9949,W,1,03,00.5,052.0,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 0.4556, causes a climb rate of 0.6219, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203201.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4560, causes a climb rate of 0.6223, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=74.87 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.4564, causes a climb rate of 0.6228, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4567, causes a climb rate of 0.6232, which is too large. Aborting! : TerrainNav update at nav time = 1434.001764 : TerrainNav update at dvl time = 1434.001764 : _navData-> (x,y) = (4074907.65, 590687.02) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4571, causes a climb rate of 0.6236, which is too large. Aborting! : NMEA Update: $GPGGA,203201.21,3648.9407,N,-12158.9939,W,1,03,00.5,051.6,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 0.4575, causes a climb rate of 0.6240, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203202.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4579, causes a climb rate of 0.6245, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4582, causes a climb rate of 0.6249, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4586, causes a climb rate of 0.6253, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=74.68 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.4590, causes a climb rate of 0.6257, which is too large. Aborting! : NMEA Update: $GPGGA,203202.21,3648.9405,N,-12158.9929,W,1,03,00.5,051.3,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 0.4594, causes a climb rate of 0.6262, which is too large. Aborting! : Estimated North Bias at time = 1434.00 : -17.55 : Estimated East Bias at time = 1434.00 : -29.41 : AshtechGps::processRecord() - $GPGGA,203203.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 1434.00 : 0.69 : Estimated northing and easting = 4074890.10 : 590657.61 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4598, causes a climb rate of 0.6266, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4601, causes a climb rate of 0.6270, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4605, causes a climb rate of 0.6274, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4609, causes a climb rate of 0.6279, which is too large. Aborting! : NMEA Update: $GPGGA,203203.21,3648.9403,N,-12158.9919,W,1,03,00.5,052.2,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 0.4613, causes a climb rate of 0.6283, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=74.49 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203204.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4617, causes a climb rate of 0.6287, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4621, causes a climb rate of 0.6292, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4624, causes a climb rate of 0.6296, which is too large. Aborting! : TerrainNav update at nav time = 1437.001559 : TerrainNav update at dvl time = 1437.001559 : _navData-> (x,y) = (4074906.39, 590691.44) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4628, causes a climb rate of 0.6300, which is too large. Aborting! : NMEA Update: $GPGGA,203204.21,3648.9400,N,-12158.9909,W,1,03,00.5,051.2,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 0.4632, causes a climb rate of 0.6305, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203205.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4636, causes a climb rate of 0.6309, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4640, causes a climb rate of 0.6313, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=74.30 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.4644, causes a climb rate of 0.6318, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4648, causes a climb rate of 0.6322, which is too large. Aborting! : NMEA Update: $GPGGA,203205.21,3648.9398,N,-12158.9899,W,1,03,00.5,051.5,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 0.4651, causes a climb rate of 0.6326, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203206.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1437.00 : -18.53 : Estimated East Bias at time = 1437.00 : -29.64 : Estimated Depth Bias at time = 1437.00 : 0.69 : Estimated northing and easting = 4074887.86 : 590661.80 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4655, causes a climb rate of 0.6331, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4659, causes a climb rate of 0.6335, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4663, causes a climb rate of 0.6339, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4667, causes a climb rate of 0.6344, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=74.11 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203206.21,3648.9395,N,-12158.9890,W,1,03,00.5,050.7,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 0.4671, causes a climb rate of 0.6348, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203207.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4675, causes a climb rate of 0.6352, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4679, causes a climb rate of 0.6357, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4683, causes a climb rate of 0.6361, which is too large. Aborting! : TerrainNav update at nav time = 1440.001353 : TerrainNav update at dvl time = 1440.001353 : _navData-> (x,y) = (4074905.08, 590695.84) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4687, causes a climb rate of 0.6366, which is too large. Aborting! : NMEA Update: $GPGGA,203207.21,3648.9393,N,-12158.9880,W,1,03,00.5,050.8,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 0.4691, causes a climb rate of 0.6370, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203208.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4695, causes a climb rate of 0.6374, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=73.92 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.4699, causes a climb rate of 0.6379, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4703, causes a climb rate of 0.6383, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4707, causes a climb rate of 0.6388, which is too large. Aborting! : NMEA Update: $GPGGA,203208.21,3648.9390,N,-12158.9870,W,1,03,00.5,050.8,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 0.4711, causes a climb rate of 0.6392, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203209.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1440.00 : -18.81 : Estimated East Bias at time = 1440.00 : -29.61 : Estimated Depth Bias at time = 1440.00 : 0.68 : Estimated northing and easting = 4074886.27 : 590666.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4715, causes a climb rate of 0.6397, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4719, causes a climb rate of 0.6401, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4723, causes a climb rate of 0.6405, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=73.74 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.4727, causes a climb rate of 0.6410, which is too large. Aborting! : NMEA Update: $GPGGA,203209.21,3648.9388,N,-12158.9860,W,1,03,00.5,050.3,M,-99.9,M,,*45 : WaypointDepth -- ERROR. Waypoint slope = 0.4731, causes a climb rate of 0.6414, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203210.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4735, causes a climb rate of 0.6419, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4739, causes a climb rate of 0.6423, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4743, causes a climb rate of 0.6428, which is too large. Aborting! : TerrainNav update at nav time = 1443.001148 : TerrainNav update at dvl time = 1443.001148 : _navData-> (x,y) = (4074903.72, 590700.24) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4747, causes a climb rate of 0.6432, which is too large. Aborting! : NMEA Update: $GPGGA,203210.21,3648.9385,N,-12158.9850,W,1,03,00.5,051.1,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 0.4751, causes a climb rate of 0.6437, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=73.55 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203211.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4755, causes a climb rate of 0.6441, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4759, causes a climb rate of 0.6446, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4763, causes a climb rate of 0.6450, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4767, causes a climb rate of 0.6455, which is too large. Aborting! : NMEA Update: $GPGGA,203211.21,3648.9383,N,-12158.9841,W,1,03,00.5,050.5,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 0.4771, causes a climb rate of 0.6459, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203212.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1443.00 : -20.69 : Estimated East Bias at time = 1443.00 : -30.20 : Estimated Depth Bias at time = 1443.00 : 0.68 : Estimated northing and easting = 4074883.03 : 590670.03 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4775, causes a climb rate of 0.6464, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4779, causes a climb rate of 0.6468, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=73.36 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.4783, causes a climb rate of 0.6473, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4787, causes a climb rate of 0.6477, which is too large. Aborting! : NMEA Update: $GPGGA,203212.21,3648.9380,N,-12158.9831,W,1,03,00.5,050.6,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 0.4791, causes a climb rate of 0.6482, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203213.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4796, causes a climb rate of 0.6486, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4800, causes a climb rate of 0.6491, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4804, causes a climb rate of 0.6495, which is too large. Aborting! : TerrainNav update at nav time = 1446.000942 : TerrainNav update at dvl time = 1446.000942 : _navData-> (x,y) = (4074902.33, 590704.60) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4808, causes a climb rate of 0.6500, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=73.17 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203213.21,3648.9377,N,-12158.9821,W,1,03,00.5,051.3,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 0.4812, causes a climb rate of 0.6504, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203214.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4816, causes a climb rate of 0.6509, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4820, causes a climb rate of 0.6513, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4825, causes a climb rate of 0.6518, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4829, causes a climb rate of 0.6522, which is too large. Aborting! : NMEA Update: $GPGGA,203214.21,3648.9375,N,-12158.9811,W,1,03,00.5,050.6,M,-99.9,M,,*48 : WaypointDepth -- ERROR. Waypoint slope = 0.4833, causes a climb rate of 0.6527, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203215.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1446.00 : -22.27 : Estimated East Bias at time = 1446.00 : -30.75 : Estimated Depth Bias at time = 1446.00 : 0.68 : Estimated northing and easting = 4074880.06 : 590673.85 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4837, causes a climb rate of 0.6532, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=72.98 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.4841, causes a climb rate of 0.6536, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4846, causes a climb rate of 0.6541, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4850, causes a climb rate of 0.6545, which is too large. Aborting! : NMEA Update: $GPGGA,203215.21,3648.9372,N,-12158.9802,W,1,03,00.5,050.7,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 0.4854, causes a climb rate of 0.6550, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203216.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4858, causes a climb rate of 0.6555, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4862, causes a climb rate of 0.6559, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4867, causes a climb rate of 0.6564, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=72.79 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1449.000737 : TerrainNav update at dvl time = 1449.000737 : _navData-> (x,y) = (4074900.92, 590708.97) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4871, causes a climb rate of 0.6569, which is too large. Aborting! : NMEA Update: $GPGGA,203216.21,3648.9370,N,-12158.9792,W,1,03,00.5,049.8,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 0.4875, causes a climb rate of 0.6573, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203217.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4879, causes a climb rate of 0.6578, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4884, causes a climb rate of 0.6582, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4888, causes a climb rate of 0.6587, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4892, causes a climb rate of 0.6592, which is too large. Aborting! : NMEA Update: $GPGGA,203217.21,3648.9367,N,-12158.9782,W,1,03,00.5,050.7,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 0.4896, causes a climb rate of 0.6596, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=72.61 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 1449.00 : -23.12 : Estimated East Bias at time = 1449.00 : -30.72 : Estimated Depth Bias at time = 1449.00 : 0.67 : Estimated northing and easting = 4074877.80 : 590678.24 : AshtechGps::processRecord() - $GPGGA,203218.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4901, causes a climb rate of 0.6601, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4905, causes a climb rate of 0.6606, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4909, causes a climb rate of 0.6610, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4914, causes a climb rate of 0.6615, which is too large. Aborting! : NMEA Update: $GPGGA,203218.21,3648.9364,N,-12158.9772,W,1,03,00.5,050.7,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 0.4918, causes a climb rate of 0.6620, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203219.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4922, causes a climb rate of 0.6624, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4927, causes a climb rate of 0.6629, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=72.42 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.4931, causes a climb rate of 0.6634, which is too large. Aborting! : TerrainNav update at nav time = 1452.000531 : TerrainNav update at dvl time = 1452.000531 : _navData-> (x,y) = (4074899.52, 590713.32) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4935, causes a climb rate of 0.6638, which is too large. Aborting! : NMEA Update: $GPGGA,203219.21,3648.9362,N,-12158.9763,W,1,03,00.5,049.7,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 0.4940, causes a climb rate of 0.6643, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203220.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4944, causes a climb rate of 0.6648, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4948, causes a climb rate of 0.6652, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4953, causes a climb rate of 0.6657, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4957, causes a climb rate of 0.6662, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=72.23 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203220.21,3648.9359,N,-12158.9753,W,1,03,00.5,050.7,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 0.4961, causes a climb rate of 0.6667, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203221.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1452.00 : -23.79 : Estimated East Bias at time = 1452.00 : -30.69 : Estimated Depth Bias at time = 1452.00 : 0.66 : Estimated northing and easting = 4074875.73 : 590682.62 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.4966, causes a climb rate of 0.6671, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4970, causes a climb rate of 0.6676, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4975, causes a climb rate of 0.6681, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4979, causes a climb rate of 0.6686, which is too large. Aborting! : NMEA Update: $GPGGA,203221.21,3648.9357,N,-12158.9743,W,1,03,00.5,049.7,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 0.4983, causes a climb rate of 0.6690, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203222.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.4988, causes a climb rate of 0.6695, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=72.05 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.4992, causes a climb rate of 0.6700, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.4997, causes a climb rate of 0.6705, which is too large. Aborting! : TerrainNav update at nav time = 1455.000326 : TerrainNav update at dvl time = 1455.000326 : _navData-> (x,y) = (4074898.18, 590717.67) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5001, causes a climb rate of 0.6709, which is too large. Aborting! : NMEA Update: $GPGGA,203222.21,3648.9354,N,-12158.9734,W,1,03,00.5,050.2,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 0.5005, causes a climb rate of 0.6714, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203223.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5010, causes a climb rate of 0.6719, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5014, causes a climb rate of 0.6724, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5019, causes a climb rate of 0.6728, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=71.86 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.5023, causes a climb rate of 0.6733, which is too large. Aborting! : NMEA Update: $GPGGA,203223.21,3648.9352,N,-12158.9724,W,1,03,00.5,050.7,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 0.5028, causes a climb rate of 0.6738, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203224.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1455.00 : -24.79 : Estimated East Bias at time = 1455.00 : -30.96 : Estimated Depth Bias at time = 1455.00 : 0.65 : Estimated northing and easting = 4074873.39 : 590686.71 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5032, causes a climb rate of 0.6743, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5037, causes a climb rate of 0.6747, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5041, causes a climb rate of 0.6752, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5046, causes a climb rate of 0.6757, which is too large. Aborting! : NMEA Update: $GPGGA,203224.21,3648.9349,N,-12158.9714,W,1,03,00.5,049.8,M,-99.9,M,,*48 : WaypointDepth -- ERROR. Waypoint slope = 0.5050, causes a climb rate of 0.6762, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=71.67 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203225.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5055, causes a climb rate of 0.6767, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5059, causes a climb rate of 0.6772, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5064, causes a climb rate of 0.6776, which is too large. Aborting! : TerrainNav update at nav time = 1458.000120 : TerrainNav update at dvl time = 1458.000120 : _navData-> (x,y) = (4074896.88, 590722.00) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5068, causes a climb rate of 0.6781, which is too large. Aborting! : NMEA Update: $GPGGA,203225.21,3648.9347,N,-12158.9704,W,1,03,00.5,050.2,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 0.5073, causes a climb rate of 0.6786, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203226.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5077, causes a climb rate of 0.6791, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5082, causes a climb rate of 0.6796, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=71.49 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.5087, causes a climb rate of 0.6801, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5091, causes a climb rate of 0.6806, which is too large. Aborting! : NMEA Update: $GPGGA,203226.21,3648.9345,N,-12158.9695,W,1,03,00.5,050.1,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 0.5096, causes a climb rate of 0.6810, which is too large. Aborting! : Estimated North Bias at time = 1458.00 : -25.96 : Estimated East Bias at time = 1458.00 : -31.29 : Estimated Depth Bias at time = 1458.00 : 0.65 : Estimated northing and easting = 4074870.92 : 590690.71 : AshtechGps::processRecord() - $GPGGA,203227.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5100, causes a climb rate of 0.6815, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5105, causes a climb rate of 0.6820, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5110, causes a climb rate of 0.6825, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5114, causes a climb rate of 0.6830, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=71.30 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203227.21,3648.9342,N,-12158.9685,W,1,03,00.5,050.3,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 0.5119, causes a climb rate of 0.6835, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203228.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5124, causes a climb rate of 0.6840, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5128, causes a climb rate of 0.6845, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5133, causes a climb rate of 0.6850, which is too large. Aborting! : TerrainNav update at nav time = 1460.999915 : TerrainNav update at dvl time = 1460.999915 : _navData-> (x,y) = (4074895.64, 590726.35) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5137, causes a climb rate of 0.6855, which is too large. Aborting! : NMEA Update: $GPGGA,203228.21,3648.9340,N,-12158.9675,W,1,03,00.5,050.0,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 0.5142, causes a climb rate of 0.6859, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203229.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5147, causes a climb rate of 0.6864, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=71.12 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.5151, causes a climb rate of 0.6869, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5156, causes a climb rate of 0.6874, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5161, causes a climb rate of 0.6879, which is too large. Aborting! : NMEA Update: $GPGGA,203229.21,3648.9338,N,-12158.9666,W,1,03,00.5,049.3,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 0.5166, causes a climb rate of 0.6884, which is too large. Aborting! : Estimated North Bias at time = 1461.00 : -27.03 : Estimated East Bias at time = 1461.00 : -31.62 : Estimated Depth Bias at time = 1461.00 : 0.64 : Estimated northing and easting = 4074868.61 : 590694.73 : AshtechGps::processRecord() - $GPGGA,203230.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5170, causes a climb rate of 0.6889, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5175, causes a climb rate of 0.6894, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5180, causes a climb rate of 0.6899, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=70.93 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.5184, causes a climb rate of 0.6904, which is too large. Aborting! : NMEA Update: $GPGGA,203230.21,3648.9336,N,-12158.9656,W,1,03,00.5,049.3,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 0.5189, causes a climb rate of 0.6909, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203231.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5194, causes a climb rate of 0.6914, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5199, causes a climb rate of 0.6919, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5203, causes a climb rate of 0.6924, which is too large. Aborting! : TerrainNav update at nav time = 1463.999709 : TerrainNav update at dvl time = 1463.999709 : _navData-> (x,y) = (4074894.50, 590730.70) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5208, causes a climb rate of 0.6929, which is too large. Aborting! : NMEA Update: $GPGGA,203231.21,3648.9334,N,-12158.9646,W,1,03,00.5,049.8,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 0.5213, causes a climb rate of 0.6934, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=70.75 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203232.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5218, causes a climb rate of 0.6939, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5222, causes a climb rate of 0.6944, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5227, causes a climb rate of 0.6949, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5232, causes a climb rate of 0.6954, which is too large. Aborting! : NMEA Update: $GPGGA,203232.21,3648.9332,N,-12158.9636,W,1,03,00.5,048.6,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 0.5237, causes a climb rate of 0.6959, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203233.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1464.00 : -27.77 : Estimated East Bias at time = 1464.00 : -31.90 : Estimated Depth Bias at time = 1464.00 : 0.65 : Estimated northing and easting = 4074866.72 : 590698.80 : WaypointDepth -- ERROR. Waypoint slope = 0.5242, causes a climb rate of 0.6964, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5247, causes a climb rate of 0.6969, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=70.56 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.5251, causes a climb rate of 0.6974, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5256, causes a climb rate of 0.6979, which is too large. Aborting! : NMEA Update: $GPGGA,203233.21,3648.9330,N,-12158.9627,W,1,03,00.5,049.8,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 0.5261, causes a climb rate of 0.6984, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203234.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5266, causes a climb rate of 0.6989, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5271, causes a climb rate of 0.6994, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5276, causes a climb rate of 0.6999, which is too large. Aborting! : TerrainNav update at nav time = 1466.999504 : TerrainNav update at dvl time = 1466.999504 : _navData-> (x,y) = (4074893.44, 590735.05) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5280, causes a climb rate of 0.7004, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=70.38 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203234.21,3648.9328,N,-12158.9617,W,1,03,00.5,048.6,M,-99.9,M,,*43 : WaypointDepth -- ERROR. Waypoint slope = 0.5285, causes a climb rate of 0.7009, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203235.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5290, causes a climb rate of 0.7014, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5295, causes a climb rate of 0.7019, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5300, causes a climb rate of 0.7024, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5305, causes a climb rate of 0.7030, which is too large. Aborting! : NMEA Update: $GPGGA,203235.21,3648.9326,N,-12158.9607,W,1,03,00.5,049.3,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 0.5310, causes a climb rate of 0.7035, which is too large. Aborting! : Estimated North Bias at time = 1467.00 : -28.49 : Estimated East Bias at time = 1467.00 : -31.85 : Estimated Depth Bias at time = 1467.00 : 0.64 : Estimated northing and easting = 4074864.95 : 590703.19 : AshtechGps::processRecord() - $GPGGA,203236.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5315, causes a climb rate of 0.7040, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=70.19 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.5320, causes a climb rate of 0.7045, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5325, causes a climb rate of 0.7050, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5330, causes a climb rate of 0.7055, which is too large. Aborting! : NMEA Update: $GPGGA,203236.21,3648.9324,N,-12158.9598,W,1,03,00.5,048.7,M,-99.9,M,,*48 : WaypointDepth -- ERROR. Waypoint slope = 0.5335, causes a climb rate of 0.7060, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203237.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5340, causes a climb rate of 0.7065, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5345, causes a climb rate of 0.7070, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5350, causes a climb rate of 0.7076, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=70.01 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1469.999298 : TerrainNav update at dvl time = 1469.999298 : _navData-> (x,y) = (4074892.44, 590739.39) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5355, causes a climb rate of 0.7081, which is too large. Aborting! : NMEA Update: $GPGGA,203237.21,3648.9322,N,-12158.9588,W,1,03,00.5,049.5,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 0.5360, causes a climb rate of 0.7086, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203238.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5365, causes a climb rate of 0.7091, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5370, causes a climb rate of 0.7096, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5375, causes a climb rate of 0.7102, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5380, causes a climb rate of 0.7107, which is too large. Aborting! : NMEA Update: $GPGGA,203238.21,3648.9320,N,-12158.9578,W,1,03,00.5,049.6,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 0.5385, causes a climb rate of 0.7112, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=69.83 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203239.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1470.00 : -29.49 : Estimated East Bias at time = 1470.00 : -32.17 : Estimated Depth Bias at time = 1470.00 : 0.64 : Estimated northing and easting = 4074862.95 : 590707.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5390, causes a climb rate of 0.7117, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5395, causes a climb rate of 0.7122, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5400, causes a climb rate of 0.7127, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5405, causes a climb rate of 0.7133, which is too large. Aborting! : NMEA Update: $GPGGA,203239.21,3648.9318,N,-12158.9568,W,1,03,00.5,049.5,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 0.5410, causes a climb rate of 0.7138, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203240.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5416, causes a climb rate of 0.7143, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5421, causes a climb rate of 0.7148, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=69.64 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.5426, causes a climb rate of 0.7154, which is too large. Aborting! : TerrainNav update at nav time = 1472.999093 : TerrainNav update at dvl time = 1472.999093 : _navData-> (x,y) = (4074891.45, 590743.74) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5431, causes a climb rate of 0.7159, which is too large. Aborting! : NMEA Update: $GPGGA,203240.21,3648.9317,N,-12158.9559,W,1,03,00.5,048.9,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 0.5436, causes a climb rate of 0.7164, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203241.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5441, causes a climb rate of 0.7169, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5446, causes a climb rate of 0.7174, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5452, causes a climb rate of 0.7180, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5457, causes a climb rate of 0.7185, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=69.46 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203241.21,3648.9315,N,-12158.9549,W,1,03,00.5,049.1,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 0.5462, causes a climb rate of 0.7190, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203242.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1473.00 : -30.53 : Estimated East Bias at time = 1473.00 : -32.33 : Estimated Depth Bias at time = 1473.00 : 0.63 : Estimated northing and easting = 4074860.92 : 590711.41 : WaypointDepth -- ERROR. Waypoint slope = 0.5467, causes a climb rate of 0.7196, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5472, causes a climb rate of 0.7201, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5478, causes a climb rate of 0.7206, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5483, causes a climb rate of 0.7212, which is too large. Aborting! : NMEA Update: $GPGGA,203242.21,3648.9313,N,-12158.9539,W,1,03,00.5,049.2,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 0.5488, causes a climb rate of 0.7217, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203243.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5493, causes a climb rate of 0.7222, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=69.27 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.5499, causes a climb rate of 0.7228, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5504, causes a climb rate of 0.7233, which is too large. Aborting! : TerrainNav update at nav time = 1475.998887 : TerrainNav update at dvl time = 1475.998887 : _navData-> (x,y) = (4074890.42, 590748.07) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5509, causes a climb rate of 0.7238, which is too large. Aborting! : NMEA Update: $GPGGA,203243.21,3648.9311,N,-12158.9530,W,1,03,00.5,048.7,M,-99.9,M,,*4e : WaypointDepth -- ERROR. Waypoint slope = 0.5515, causes a climb rate of 0.7244, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203244.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5520, causes a climb rate of 0.7249, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5525, causes a climb rate of 0.7254, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5531, causes a climb rate of 0.7260, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=69.09 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.5536, causes a climb rate of 0.7265, which is too large. Aborting! : NMEA Update: $GPGGA,203244.21,3648.9309,N,-12158.9520,W,1,03,00.5,049.4,M,-99.9,M,,*43 : WaypointDepth -- ERROR. Waypoint slope = 0.5541, causes a climb rate of 0.7270, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203245.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1476.00 : -31.05 : Estimated East Bias at time = 1476.00 : -32.32 : Estimated Depth Bias at time = 1476.00 : 0.63 : Estimated northing and easting = 4074859.37 : 590715.75 : WaypointDepth -- ERROR. Waypoint slope = 0.5547, causes a climb rate of 0.7276, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5552, causes a climb rate of 0.7281, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5558, causes a climb rate of 0.7287, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5563, causes a climb rate of 0.7292, which is too large. Aborting! : NMEA Update: $GPGGA,203245.21,3648.9307,N,-12158.9510,W,1,03,00.5,048.8,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 0.5568, causes a climb rate of 0.7298, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=68.91 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203246.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5574, causes a climb rate of 0.7303, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5579, causes a climb rate of 0.7308, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5585, causes a climb rate of 0.7314, which is too large. Aborting! : TerrainNav update at nav time = 1478.998682 : TerrainNav update at dvl time = 1478.998682 : _navData-> (x,y) = (4074889.40, 590752.42) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5590, causes a climb rate of 0.7319, which is too large. Aborting! : NMEA Update: $GPGGA,203246.21,3648.9305,N,-12158.9500,W,1,03,00.5,048.9,M,-99.9,M,,*43 : WaypointDepth -- ERROR. Waypoint slope = 0.5596, causes a climb rate of 0.7325, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203247.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5601, causes a climb rate of 0.7330, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5607, causes a climb rate of 0.7336, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=68.72 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.5612, causes a climb rate of 0.7341, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5618, causes a climb rate of 0.7347, which is too large. Aborting! : NMEA Update: $GPGGA,203247.21,3648.9303,N,-12158.9491,W,1,03,00.5,049.4,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 0.5624, causes a climb rate of 0.7353, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203248.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1479.00 : -31.53 : Estimated East Bias at time = 1479.00 : -32.47 : Estimated Depth Bias at time = 1479.00 : 0.63 : Estimated northing and easting = 4074857.87 : 590719.96 : WaypointDepth -- ERROR. Waypoint slope = 0.5629, causes a climb rate of 0.7358, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5635, causes a climb rate of 0.7364, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5641, causes a climb rate of 0.7369, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5646, causes a climb rate of 0.7375, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=68.54 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203248.21,3648.9301,N,-12158.9481,W,1,03,00.5,048.8,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 0.5652, causes a climb rate of 0.7381, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203249.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5658, causes a climb rate of 0.7386, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5663, causes a climb rate of 0.7392, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5669, causes a climb rate of 0.7397, which is too large. Aborting! : TerrainNav update at nav time = 1481.998476 : TerrainNav update at dvl time = 1481.998476 : _navData-> (x,y) = (4074888.42, 590756.83) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5675, causes a climb rate of 0.7403, which is too large. Aborting! : NMEA Update: $GPGGA,203249.21,3648.9299,N,-12158.9471,W,1,03,00.5,048.9,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 0.5680, causes a climb rate of 0.7409, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203250.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5686, causes a climb rate of 0.7414, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=68.35 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.5692, causes a climb rate of 0.7420, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5698, causes a climb rate of 0.7426, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5703, causes a climb rate of 0.7431, which is too large. Aborting! : NMEA Update: $GPGGA,203250.21,3648.9298,N,-12158.9461,W,1,03,00.5,048.5,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 0.5709, causes a climb rate of 0.7437, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203251.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1482.00 : -32.00 : Estimated East Bias at time = 1482.00 : -32.61 : Estimated Depth Bias at time = 1482.00 : 0.63 : Estimated northing and easting = 4074856.42 : 590724.22 : WaypointDepth -- ERROR. Waypoint slope = 0.5715, causes a climb rate of 0.7443, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5721, causes a climb rate of 0.7448, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5726, causes a climb rate of 0.7454, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=68.16 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.5732, causes a climb rate of 0.7460, which is too large. Aborting! : NMEA Update: $GPGGA,203251.21,3648.9296,N,-12158.9451,W,1,03,00.5,048.8,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 0.5738, causes a climb rate of 0.7465, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203252.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5744, causes a climb rate of 0.7471, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5750, causes a climb rate of 0.7477, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5755, causes a climb rate of 0.7482, which is too large. Aborting! : TerrainNav update at nav time = 1484.998271 : TerrainNav update at dvl time = 1484.998271 : _navData-> (x,y) = (4074887.52, 590761.25) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5761, causes a climb rate of 0.7488, which is too large. Aborting! : NMEA Update: $GPGGA,203252.21,3648.9294,N,-12158.9441,W,1,03,00.5,048.5,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 0.5767, causes a climb rate of 0.7494, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=67.98 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203253.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5773, causes a climb rate of 0.7500, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5779, causes a climb rate of 0.7505, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5785, causes a climb rate of 0.7511, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5791, causes a climb rate of 0.7517, which is too large. Aborting! : NMEA Update: $GPGGA,203253.21,3648.9293,N,-12158.9431,W,1,03,00.5,048.8,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 0.5797, causes a climb rate of 0.7523, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203254.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1485.00 : -32.71 : Estimated East Bias at time = 1485.00 : -32.82 : Estimated Depth Bias at time = 1485.00 : 0.63 : Estimated northing and easting = 4074854.81 : 590728.43 : WaypointDepth -- ERROR. Waypoint slope = 0.5803, causes a climb rate of 0.7528, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5809, causes a climb rate of 0.7534, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=67.79 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.5815, causes a climb rate of 0.7540, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5821, causes a climb rate of 0.7546, which is too large. Aborting! : NMEA Update: $GPGGA,203254.21,3648.9291,N,-12158.9421,W,1,03,00.5,049.0,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 0.5827, causes a climb rate of 0.7552, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203255.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5833, causes a climb rate of 0.7558, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5839, causes a climb rate of 0.7563, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5845, causes a climb rate of 0.7569, which is too large. Aborting! : TerrainNav update at nav time = 1487.998065 : TerrainNav update at dvl time = 1487.998065 : _navData-> (x,y) = (4074886.67, 590765.69) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5851, causes a climb rate of 0.7575, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=67.61 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203255.21,3648.9290,N,-12158.9411,W,1,03,00.5,048.6,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 0.5857, causes a climb rate of 0.7581, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203256.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5863, causes a climb rate of 0.7587, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5869, causes a climb rate of 0.7593, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5875, causes a climb rate of 0.7598, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5881, causes a climb rate of 0.7604, which is too large. Aborting! : NMEA Update: $GPGGA,203256.21,3648.9288,N,-12158.9401,W,1,03,00.5,048.9,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 0.5887, causes a climb rate of 0.7610, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203257.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1488.00 : -33.56 : Estimated East Bias at time = 1488.00 : -33.07 : Estimated Depth Bias at time = 1488.00 : 0.63 : Estimated northing and easting = 4074853.12 : 590732.63 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5894, causes a climb rate of 0.7616, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=67.42 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.5900, causes a climb rate of 0.7622, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5906, causes a climb rate of 0.7628, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5912, causes a climb rate of 0.7634, which is too large. Aborting! : NMEA Update: $GPGGA,203257.21,3648.9286,N,-12158.9391,W,1,03,00.5,048.6,M,-99.9,M,,*48 : WaypointDepth -- ERROR. Waypoint slope = 0.5918, causes a climb rate of 0.7640, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203258.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5924, causes a climb rate of 0.7646, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5931, causes a climb rate of 0.7652, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5937, causes a climb rate of 0.7657, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=67.23 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1490.997860 : TerrainNav update at dvl time = 1490.997860 : _navData-> (x,y) = (4074885.82, 590770.12) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5943, causes a climb rate of 0.7663, which is too large. Aborting! : NMEA Update: $GPGGA,203258.21,3648.9285,N,-12158.9382,W,1,03,00.5,048.8,M,-99.9,M,,*48 : WaypointDepth -- ERROR. Waypoint slope = 0.5949, causes a climb rate of 0.7669, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203259.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5956, causes a climb rate of 0.7675, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5962, causes a climb rate of 0.7681, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5968, causes a climb rate of 0.7687, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5974, causes a climb rate of 0.7693, which is too large. Aborting! : NMEA Update: $GPGGA,203259.21,3648.9283,N,-12158.9372,W,1,03,00.5,048.4,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 0.5981, causes a climb rate of 0.7699, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=67.05 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203300.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1491.00 : -34.26 : Estimated East Bias at time = 1491.00 : -33.28 : Estimated Depth Bias at time = 1491.00 : 0.63 : Estimated northing and easting = 4074851.55 : 590736.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5987, causes a climb rate of 0.7705, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5993, causes a climb rate of 0.7711, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6000, causes a climb rate of 0.7717, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6006, causes a climb rate of 0.7723, which is too large. Aborting! : NMEA Update: $GPGGA,203300.21,3648.9281,N,-12158.9362,W,1,03,00.5,048.7,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 0.6012, causes a climb rate of 0.7729, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203301.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6019, causes a climb rate of 0.7735, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6025, causes a climb rate of 0.7741, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=66.86 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.6031, causes a climb rate of 0.7747, which is too large. Aborting! : TerrainNav update at nav time = 1493.997654 : TerrainNav update at dvl time = 1493.997654 : _navData-> (x,y) = (4074884.95, 590774.52) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6038, causes a climb rate of 0.7753, which is too large. Aborting! : NMEA Update: $GPGGA,203301.21,3648.9280,N,-12158.9352,W,1,03,00.5,048.3,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 0.6044, causes a climb rate of 0.7759, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203302.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6051, causes a climb rate of 0.7765, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6057, causes a climb rate of 0.7771, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6064, causes a climb rate of 0.7777, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6070, causes a climb rate of 0.7783, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=66.68 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203302.21,3648.9278,N,-12158.9342,W,1,03,00.5,048.3,M,-99.9,M,,*43 : Estimated North Bias at time = 1494.00 : -35.30 : Estimated East Bias at time = 1494.00 : -33.55 : Estimated Depth Bias at time = 1494.00 : 0.63 : WaypointDepth -- ERROR. Waypoint slope = 0.6077, causes a climb rate of 0.7790, which is too large. Aborting! : Estimated northing and easting = 4074849.65 : 590740.97 : AshtechGps::processRecord() - $GPGGA,203303.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6083, causes a climb rate of 0.7796, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6090, causes a climb rate of 0.7802, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6096, causes a climb rate of 0.7808, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6103, causes a climb rate of 0.7814, which is too large. Aborting! : NMEA Update: $GPGGA,203303.21,3648.9276,N,-12158.9332,W,1,03,00.5,048.6,M,-99.9,M,,*4e : WaypointDepth -- ERROR. Waypoint slope = 0.6110, causes a climb rate of 0.7820, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203304.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6116, causes a climb rate of 0.7827, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=66.49 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.6123, causes a climb rate of 0.7833, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6130, causes a climb rate of 0.7839, which is too large. Aborting! : TerrainNav update at nav time = 1496.997449 : TerrainNav update at dvl time = 1496.997449 : _navData-> (x,y) = (4074884.08, 590778.95) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6136, causes a climb rate of 0.7845, which is too large. Aborting! : NMEA Update: $GPGGA,203304.21,3648.9275,N,-12158.9322,W,1,03,00.5,048.4,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 0.6143, causes a climb rate of 0.7851, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203305.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6150, causes a climb rate of 0.7857, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6156, causes a climb rate of 0.7864, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6163, causes a climb rate of 0.7870, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=66.31 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.6170, causes a climb rate of 0.7876, which is too large. Aborting! : NMEA Update: $GPGGA,203305.21,3648.9273,N,-12158.9312,W,1,03,00.5,049.2,M,-99.9,M,,*4a : Estimated North Bias at time = 1497.00 : -36.15 : Estimated East Bias at time = 1497.00 : -33.75 : WaypointDepth -- ERROR. Waypoint slope = 0.6177, causes a climb rate of 0.7882, which is too large. Aborting! : Estimated Depth Bias at time = 1497.00 : 0.63 : Estimated northing and easting = 4074847.94 : 590745.20 : AshtechGps::processRecord() - $GPGGA,203306.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6183, causes a climb rate of 0.7889, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6190, causes a climb rate of 0.7895, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6197, causes a climb rate of 0.7901, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6204, causes a climb rate of 0.7908, which is too large. Aborting! : NMEA Update: $GPGGA,203306.21,3648.9271,N,-12158.9302,W,1,03,00.5,048.3,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 0.6211, causes a climb rate of 0.7914, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=66.12 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203307.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6217, causes a climb rate of 0.7920, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6224, causes a climb rate of 0.7926, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6231, causes a climb rate of 0.7933, which is too large. Aborting! : TerrainNav update at nav time = 1499.997243 : TerrainNav update at dvl time = 1499.997243 : _navData-> (x,y) = (4074883.19, 590783.39) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6238, causes a climb rate of 0.7939, which is too large. Aborting! : NMEA Update: $GPGGA,203307.21,3648.9270,N,-12158.9293,W,1,03,00.5,048.7,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 0.6245, causes a climb rate of 0.7945, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203308.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6252, causes a climb rate of 0.7952, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6259, causes a climb rate of 0.7958, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=65.93 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.6266, causes a climb rate of 0.7964, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6273, causes a climb rate of 0.7971, which is too large. Aborting! : NMEA Update: $GPGGA,203308.21,3648.9268,N,-12158.9283,W,1,03,00.5,049.0,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 0.6280, causes a climb rate of 0.7977, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203309.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1500.00 : -36.96 : Estimated East Bias at time = 1500.00 : -33.98 : Estimated Depth Bias at time = 1500.00 : 0.63 : Estimated northing and easting = 4074846.23 : 590749.41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6287, causes a climb rate of 0.7984, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6294, causes a climb rate of 0.7990, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6301, causes a climb rate of 0.7996, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6308, causes a climb rate of 0.8003, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=65.75 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203309.21,3648.9266,N,-12158.9273,W,1,03,00.5,048.6,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 0.6315, causes a climb rate of 0.8009, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203310.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6322, causes a climb rate of 0.8016, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6329, causes a climb rate of 0.8022, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6336, causes a climb rate of 0.8028, which is too large. Aborting! : TerrainNav update at nav time = 1502.997038 : TerrainNav update at dvl time = 1502.997038 : _navData-> (x,y) = (4074882.25, 590787.81) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6343, causes a climb rate of 0.8035, which is too large. Aborting! : NMEA Update: $GPGGA,203310.21,3648.9264,N,-12158.9263,W,1,03,00.5,049.4,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 0.6350, causes a climb rate of 0.8041, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203311.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6358, causes a climb rate of 0.8048, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=65.56 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.6365, causes a climb rate of 0.8054, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6372, causes a climb rate of 0.8061, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6379, causes a climb rate of 0.8067, which is too large. Aborting! : NMEA Update: $GPGGA,203311.21,3648.9262,N,-12158.9253,W,1,03,00.5,048.4,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 0.6386, causes a climb rate of 0.8074, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203312.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1503.00 : -38.04 : Estimated East Bias at time = 1503.00 : -34.40 : Estimated Depth Bias at time = 1503.00 : 0.63 : Estimated northing and easting = 4074844.21 : 590753.41 : WaypointDepth -- ERROR. Waypoint slope = 0.6394, causes a climb rate of 0.8080, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6401, causes a climb rate of 0.8087, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6408, causes a climb rate of 0.8093, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=65.37 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.6416, causes a climb rate of 0.8100, which is too large. Aborting! : NMEA Update: $GPGGA,203312.21,3648.9261,N,-12158.9243,W,1,03,00.5,047.8,M,-99.9,M,,*4e : WaypointDepth -- ERROR. Waypoint slope = 0.6423, causes a climb rate of 0.8106, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203313.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6430, causes a climb rate of 0.8113, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6438, causes a climb rate of 0.8119, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6445, causes a climb rate of 0.8126, which is too large. Aborting! : TerrainNav update at nav time = 1505.996832 : TerrainNav update at dvl time = 1505.996832 : _navData-> (x,y) = (4074881.29, 590792.24) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6452, causes a climb rate of 0.8133, which is too large. Aborting! : NMEA Update: $GPGGA,203313.21,3648.9259,N,-12158.9233,W,1,03,00.5,048.4,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 0.6460, causes a climb rate of 0.8139, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=65.19 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203314.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6467, causes a climb rate of 0.8146, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6475, causes a climb rate of 0.8152, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6482, causes a climb rate of 0.8159, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6490, causes a climb rate of 0.8166, which is too large. Aborting! : NMEA Update: $GPGGA,203314.21,3648.9257,N,-12158.9223,W,1,03,00.5,049.2,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 0.6497, causes a climb rate of 0.8172, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203315.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1506.00 : -38.61 : Estimated East Bias at time = 1506.00 : -34.52 : Estimated Depth Bias at time = 1506.00 : 0.63 : Estimated northing and easting = 4074842.67 : 590757.72 : WaypointDepth -- ERROR. Waypoint slope = 0.6505, causes a climb rate of 0.8179, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6512, causes a climb rate of 0.8186, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=65.00 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.6520, causes a climb rate of 0.8192, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6527, causes a climb rate of 0.8199, which is too large. Aborting! : NMEA Update: $GPGGA,203315.21,3648.9255,N,-12158.9213,W,1,03,00.5,047.9,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 0.6535, causes a climb rate of 0.8206, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203316.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6543, causes a climb rate of 0.8212, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6550, causes a climb rate of 0.8219, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6558, causes a climb rate of 0.8226, which is too large. Aborting! : TerrainNav update at nav time = 1508.996627 : TerrainNav update at dvl time = 1508.996627 : _navData-> (x,y) = (4074880.34, 590796.68) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6566, causes a climb rate of 0.8233, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=64.81 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203316.21,3648.9253,N,-12158.9203,W,1,03,00.5,048.4,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 0.6574, causes a climb rate of 0.8240, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203317.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6581, causes a climb rate of 0.8246, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6589, causes a climb rate of 0.8253, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6597, causes a climb rate of 0.8260, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6605, causes a climb rate of 0.8267, which is too large. Aborting! : NMEA Update: $GPGGA,203317.21,3648.9252,N,-12158.9193,W,1,03,00.5,047.9,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 0.6613, causes a climb rate of 0.8274, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203318.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1509.00 : -39.50 : Estimated East Bias at time = 1509.00 : -34.76 : Estimated Depth Bias at time = 1509.00 : 0.63 : Estimated northing and easting = 4074840.84 : 590761.93 : WaypointDepth -- ERROR. Waypoint slope = 0.6620, causes a climb rate of 0.8280, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=64.62 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6628, causes a climb rate of 0.8287, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6636, causes a climb rate of 0.8294, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6644, causes a climb rate of 0.8301, which is too large. Aborting! : NMEA Update: $GPGGA,203318.21,3648.9250,N,-12158.9183,W,1,03,00.5,048.4,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 0.6652, causes a climb rate of 0.8308, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203319.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6660, causes a climb rate of 0.8315, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6668, causes a climb rate of 0.8322, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6676, causes a climb rate of 0.8329, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=64.43 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1511.996421 : TerrainNav update at dvl time = 1511.996421 : _navData-> (x,y) = (4074879.41, 590801.17) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6684, causes a climb rate of 0.8336, which is too large. Aborting! : NMEA Update: $GPGGA,203319.21,3648.9248,N,-12158.9173,W,1,03,00.5,048.8,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 0.6692, causes a climb rate of 0.8343, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203320.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6700, causes a climb rate of 0.8350, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6708, causes a climb rate of 0.8357, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6717, causes a climb rate of 0.8364, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6725, causes a climb rate of 0.8371, which is too large. Aborting! : NMEA Update: $GPGGA,203320.21,3648.9246,N,-12158.9163,W,1,03,00.5,048.6,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 0.6733, causes a climb rate of 0.8378, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=64.24 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203321.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1512.00 : -41.11 : Estimated East Bias at time = 1512.00 : -35.19 : Estimated Depth Bias at time = 1512.00 : 0.63 : Estimated northing and easting = 4074838.31 : 590765.99 : WaypointDepth -- ERROR. Waypoint slope = 0.6741, causes a climb rate of 0.8385, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6749, causes a climb rate of 0.8392, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6758, causes a climb rate of 0.8399, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6766, causes a climb rate of 0.8406, which is too large. Aborting! : NMEA Update: $GPGGA,203321.21,3648.9245,N,-12158.9153,W,1,03,00.5,047.9,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 0.6774, causes a climb rate of 0.8413, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203322.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6782, causes a climb rate of 0.8420, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6791, causes a climb rate of 0.8427, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=64.05 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.6799, causes a climb rate of 0.8434, which is too large. Aborting! : TerrainNav update at nav time = 1514.996216 : TerrainNav update at dvl time = 1514.996216 : _navData-> (x,y) = (4074878.49, 590805.68) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6807, causes a climb rate of 0.8441, which is too large. Aborting! : NMEA Update: $GPGGA,203322.21,3648.9243,N,-12158.9143,W,1,03,00.5,048.8,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 0.6815, causes a climb rate of 0.8448, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203323.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6824, causes a climb rate of 0.8455, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6832, causes a climb rate of 0.8462, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6841, causes a climb rate of 0.8469, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6849, causes a climb rate of 0.8476, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=63.87 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203323.21,3648.9241,N,-12158.9133,W,1,03,00.5,047.5,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 0.6857, causes a climb rate of 0.8483, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203324.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1515.00 : -42.48 : Estimated East Bias at time = 1515.00 : -35.69 : Estimated Depth Bias at time = 1515.00 : 0.63 : Estimated northing and easting = 4074836.01 : 590769.99 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6866, causes a climb rate of 0.8490, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6874, causes a climb rate of 0.8497, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6883, causes a climb rate of 0.8504, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6891, causes a climb rate of 0.8512, which is too large. Aborting! : NMEA Update: $GPGGA,203324.21,3648.9239,N,-12158.9123,W,1,03,00.5,048.1,M,-99.9,M,,*45 : WaypointDepth -- ERROR. Waypoint slope = 0.6900, causes a climb rate of 0.8519, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203325.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6908, causes a climb rate of 0.8526, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=63.68 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.6917, causes a climb rate of 0.8533, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6925, causes a climb rate of 0.8540, which is too large. Aborting! : TerrainNav update at nav time = 1517.996010 : TerrainNav update at dvl time = 1517.996010 : _navData-> (x,y) = (4074877.54, 590810.15) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6934, causes a climb rate of 0.8547, which is too large. Aborting! : NMEA Update: $GPGGA,203325.20,3648.9238,N,-12158.9113,W,1,03,00.5,047.9,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 0.6943, causes a climb rate of 0.8554, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203326.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6951, causes a climb rate of 0.8562, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6960, causes a climb rate of 0.8569, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6969, causes a climb rate of 0.8576, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=63.49 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.6977, causes a climb rate of 0.8583, which is too large. Aborting! : NMEA Update: $GPGGA,203326.20,3648.9236,N,-12158.9103,W,1,03,00.5,048.3,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 0.6986, causes a climb rate of 0.8590, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203327.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1518.00 : -44.06 : Estimated East Bias at time = 1518.00 : -36.05 : Estimated Depth Bias at time = 1518.00 : 0.63 : Estimated northing and easting = 4074833.48 : 590774.10 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6995, causes a climb rate of 0.8598, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7003, causes a climb rate of 0.8605, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7012, causes a climb rate of 0.8612, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7021, causes a climb rate of 0.8619, which is too large. Aborting! : NMEA Update: $GPGGA,203327.20,3648.9234,N,-12158.9093,W,1,03,00.5,047.5,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 0.7030, causes a climb rate of 0.8627, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=63.30 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203328.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7039, causes a climb rate of 0.8634, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7048, causes a climb rate of 0.8641, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7057, causes a climb rate of 0.8648, which is too large. Aborting! : TerrainNav update at nav time = 1520.995805 : TerrainNav update at dvl time = 1520.995805 : _navData-> (x,y) = (4074876.59, 590814.61) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.7066, causes a climb rate of 0.8656, which is too large. Aborting! : NMEA Update: $GPGGA,203328.20,3648.9232,N,-12158.9083,W,1,03,00.5,048.2,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 0.7075, causes a climb rate of 0.8663, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203329.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7084, causes a climb rate of 0.8671, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7093, causes a climb rate of 0.8678, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=63.11 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.7102, causes a climb rate of 0.8685, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7111, causes a climb rate of 0.8693, which is too large. Aborting! : NMEA Update: $GPGGA,203329.20,3648.9230,N,-12158.9073,W,1,03,00.5,047.6,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 0.7120, causes a climb rate of 0.8700, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203330.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1521.00 : -44.84 : Estimated East Bias at time = 1521.00 : -36.30 : Estimated Depth Bias at time = 1521.00 : 0.63 : Estimated northing and easting = 4074831.75 : 590778.31 : WaypointDepth -- ERROR. Waypoint slope = 0.7130, causes a climb rate of 0.8708, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.7139, causes a climb rate of 0.8715, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7148, causes a climb rate of 0.8723, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7158, causes a climb rate of 0.8730, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=62.92 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203330.20,3648.9228,N,-12158.9063,W,1,03,00.5,047.8,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 0.7167, causes a climb rate of 0.8738, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203331.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7176, causes a climb rate of 0.8746, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7186, causes a climb rate of 0.8753, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7195, causes a climb rate of 0.8761, which is too large. Aborting! : TerrainNav update at nav time = 1523.995599 : TerrainNav update at dvl time = 1523.995599 : _navData-> (x,y) = (4074875.60, 590819.14) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.7205, causes a climb rate of 0.8768, which is too large. Aborting! : NMEA Update: $GPGGA,203331.20,3648.9226,N,-12158.9052,W,1,03,00.5,047.9,M,-99.9,M,,*4e : WaypointDepth -- ERROR. Waypoint slope = 0.7214, causes a climb rate of 0.8776, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203332.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7224, causes a climb rate of 0.8784, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=62.73 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.7233, causes a climb rate of 0.8791, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7243, causes a climb rate of 0.8799, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7253, causes a climb rate of 0.8807, which is too large. Aborting! : NMEA Update: $GPGGA,203332.20,3648.9225,N,-12158.9042,W,1,03,00.5,047.9,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 0.7262, causes a climb rate of 0.8814, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203333.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1524.00 : -45.77 : Estimated East Bias at time = 1524.00 : -36.55 : Estimated Depth Bias at time = 1524.00 : 0.63 : Estimated northing and easting = 4074829.84 : 590782.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.7272, causes a climb rate of 0.8822, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7282, causes a climb rate of 0.8830, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7292, causes a climb rate of 0.8838, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=62.54 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.7301, causes a climb rate of 0.8845, which is too large. Aborting! : NMEA Update: $GPGGA,203333.20,3648.9223,N,-12158.9032,W,1,03,00.5,047.9,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 0.7311, causes a climb rate of 0.8853, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203334.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7321, causes a climb rate of 0.8861, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7331, causes a climb rate of 0.8869, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7341, causes a climb rate of 0.8877, which is too large. Aborting! : TerrainNav update at nav time = 1526.995394 : TerrainNav update at dvl time = 1526.995394 : _navData-> (x,y) = (4074874.61, 590823.74) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.7351, causes a climb rate of 0.8884, which is too large. Aborting! : NMEA Update: $GPGGA,203334.20,3648.9221,N,-12158.9022,W,1,03,00.5,048.4,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 0.7361, causes a climb rate of 0.8892, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=62.34 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203335.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7371, causes a climb rate of 0.8900, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7381, causes a climb rate of 0.8908, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7391, causes a climb rate of 0.8916, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7401, causes a climb rate of 0.8924, which is too large. Aborting! : NMEA Update: $GPGGA,203335.20,3648.9219,N,-12158.9011,W,1,03,00.5,047.6,M,-99.9,M,,*4e : WaypointDepth -- ERROR. Waypoint slope = 0.7411, causes a climb rate of 0.8932, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203336.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1527.00 : -46.51 : Estimated East Bias at time = 1527.00 : -36.81 : Estimated Depth Bias at time = 1527.00 : 0.63 : Estimated northing and easting = 4074828.10 : 590786.93 : WaypointDepth -- ERROR. Waypoint slope = 0.7422, causes a climb rate of 0.8939, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.7432, causes a climb rate of 0.8947, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=62.15 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.7442, causes a climb rate of 0.8955, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7452, causes a climb rate of 0.8963, which is too large. Aborting! : NMEA Update: $GPGGA,203336.20,3648.9217,N,-12158.9001,W,1,03,00.5,047.9,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 0.7462, causes a climb rate of 0.8971, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203337.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7473, causes a climb rate of 0.8979, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7483, causes a climb rate of 0.8987, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7493, causes a climb rate of 0.8995, which is too large. Aborting! : TerrainNav update at nav time = 1529.995188 : TerrainNav update at dvl time = 1529.995188 : _navData-> (x,y) = (4074873.59, 590828.33) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.7504, causes a climb rate of 0.9003, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=61.95 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203337.20,3648.9215,N,-12158.8991,W,1,03,00.5,047.9,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 0.7514, causes a climb rate of 0.9011, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203338.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7525, causes a climb rate of 0.9019, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7535, causes a climb rate of 0.9027, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7546, causes a climb rate of 0.9035, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7556, causes a climb rate of 0.9043, which is too large. Aborting! : NMEA Update: $GPGGA,203338.20,3648.9213,N,-12158.8981,W,1,03,00.5,047.4,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 0.7567, causes a climb rate of 0.9051, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203339.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1530.00 : -46.88 : Estimated East Bias at time = 1530.00 : -36.88 : Estimated Depth Bias at time = 1530.00 : 0.64 : Estimated northing and easting = 4074826.71 : 590791.45 : WaypointDepth -- ERROR. Waypoint slope = 0.7577, causes a climb rate of 0.9059, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=61.76 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.7588, causes a climb rate of 0.9067, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7598, causes a climb rate of 0.9075, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7609, causes a climb rate of 0.9083, which is too large. Aborting! : NMEA Update: $GPGGA,203339.20,3648.9211,N,-12158.8970,W,1,03,00.5,048.0,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 0.7619, causes a climb rate of 0.9091, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203340.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7630, causes a climb rate of 0.9099, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7641, causes a climb rate of 0.9107, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7651, causes a climb rate of 0.9115, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=61.57 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1532.994983 : TerrainNav update at dvl time = 1532.994983 : _navData-> (x,y) = (4074872.57, 590832.90) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.7662, causes a climb rate of 0.9123, which is too large. Aborting! : NMEA Update: $GPGGA,203340.20,3648.9209,N,-12158.8960,W,1,03,00.5,048.0,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 0.7673, causes a climb rate of 0.9131, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203341.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7683, causes a climb rate of 0.9139, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7694, causes a climb rate of 0.9147, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7705, causes a climb rate of 0.9155, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7716, causes a climb rate of 0.9163, which is too large. Aborting! : NMEA Update: $GPGGA,203341.20,3648.9207,N,-12158.8950,W,1,03,00.5,047.4,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 0.7726, causes a climb rate of 0.9171, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=61.38 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203342.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1532.99 : -47.56 : Estimated East Bias at time = 1532.99 : -37.04 : Estimated Depth Bias at time = 1532.99 : 0.64 : Estimated northing and easting = 4074825.01 : 590795.86 : WaypointDepth -- ERROR. Waypoint slope = 0.7737, causes a climb rate of 0.9179, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.7748, causes a climb rate of 0.9187, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7759, causes a climb rate of 0.9195, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7770, causes a climb rate of 0.9203, which is too large. Aborting! : NMEA Update: $GPGGA,203342.20,3648.9205,N,-12158.8940,W,1,03,00.5,047.5,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 0.7781, causes a climb rate of 0.9211, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203343.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7792, causes a climb rate of 0.9219, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7803, causes a climb rate of 0.9227, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=61.19 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.7814, causes a climb rate of 0.9236, which is too large. Aborting! : TerrainNav update at nav time = 1535.994777 : TerrainNav update at dvl time = 1535.994777 : _navData-> (x,y) = (4074871.53, 590837.40) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.7825, causes a climb rate of 0.9244, which is too large. Aborting! : NMEA Update: $GPGGA,203343.20,3648.9203,N,-12158.8930,W,1,03,00.5,047.6,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 0.7836, causes a climb rate of 0.9252, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203344.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7847, causes a climb rate of 0.9260, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7858, causes a climb rate of 0.9268, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7869, causes a climb rate of 0.9276, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7880, causes a climb rate of 0.9284, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=61.00 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203344.20,3648.9201,N,-12158.8920,W,1,03,00.5,047.7,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 0.7891, causes a climb rate of 0.9292, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203345.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1535.99 : -48.20 : Estimated East Bias at time = 1535.99 : -37.16 : Estimated Depth Bias at time = 1535.99 : 0.64 : Estimated northing and easting = 4074823.34 : 590800.24 : WaypointDepth -- ERROR. Waypoint slope = 0.7902, causes a climb rate of 0.9300, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.7914, causes a climb rate of 0.9308, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7925, causes a climb rate of 0.9316, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7936, causes a climb rate of 0.9325, which is too large. Aborting! : NMEA Update: $GPGGA,203345.20,3648.9200,N,-12158.8910,W,1,03,00.5,047.2,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 0.7948, causes a climb rate of 0.9333, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203346.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7959, causes a climb rate of 0.9341, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=60.81 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.7970, causes a climb rate of 0.9349, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7982, causes a climb rate of 0.9357, which is too large. Aborting! : TerrainNav update at nav time = 1538.994572 : TerrainNav update at dvl time = 1538.994572 : _navData-> (x,y) = (4074870.51, 590841.87) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.7993, causes a climb rate of 0.9366, which is too large. Aborting! : NMEA Update: $GPGGA,203346.20,3648.9198,N,-12158.8900,W,1,03,00.5,047.9,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 0.8005, causes a climb rate of 0.9374, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203347.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.8016, causes a climb rate of 0.9382, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8028, causes a climb rate of 0.9390, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8039, causes a climb rate of 0.9398, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=60.62 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.8051, causes a climb rate of 0.9407, which is too large. Aborting! : NMEA Update: $GPGGA,203347.20,3648.9196,N,-12158.8890,W,1,03,00.5,047.8,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 0.8062, causes a climb rate of 0.9415, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203348.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1538.99 : -49.19 : Estimated East Bias at time = 1538.99 : -37.42 : Estimated Depth Bias at time = 1538.99 : 0.64 : Estimated northing and easting = 4074821.32 : 590804.44 : WaypointDepth -- ERROR. Waypoint slope = 0.8074, causes a climb rate of 0.9423, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.8086, causes a climb rate of 0.9431, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8098, causes a climb rate of 0.9440, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8110, causes a climb rate of 0.9448, which is too large. Aborting! : NMEA Update: $GPGGA,203348.21,3648.9194,N,-12158.8880,W,1,03,00.5,047.7,M,-99.9,M,,*43 : WaypointDepth -- ERROR. Waypoint slope = 0.8121, causes a climb rate of 0.9456, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=60.43 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203349.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.8133, causes a climb rate of 0.9465, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8145, causes a climb rate of 0.9473, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8157, causes a climb rate of 0.9482, which is too large. Aborting! : TerrainNav update at nav time = 1541.994366 : TerrainNav update at dvl time = 1541.994366 : _navData-> (x,y) = (4074869.50, 590846.34) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.8170, causes a climb rate of 0.9490, which is too large. Aborting! : NMEA Update: $GPGGA,203349.21,3648.9192,N,-12158.8870,W,1,03,00.5,047.7,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 0.8182, causes a climb rate of 0.9498, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203350.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.8194, causes a climb rate of 0.9507, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8206, causes a climb rate of 0.9515, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=60.24 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.8218, causes a climb rate of 0.9524, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8230, causes a climb rate of 0.9532, which is too large. Aborting! : NMEA Update: $GPGGA,203350.21,3648.9190,N,-12158.8860,W,1,03,00.5,047.6,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 0.8243, causes a climb rate of 0.9541, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203351.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1541.99 : -49.75 : Estimated East Bias at time = 1541.99 : -37.57 : Estimated Depth Bias at time = 1541.99 : 0.64 : Estimated northing and easting = 4074819.76 : 590808.77 : WaypointDepth -- ERROR. Waypoint slope = 0.8255, causes a climb rate of 0.9549, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.8267, causes a climb rate of 0.9558, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8280, causes a climb rate of 0.9566, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8292, causes a climb rate of 0.9575, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=60.05 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203351.21,3648.9188,N,-12158.8850,W,1,03,00.5,047.7,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 0.8305, causes a climb rate of 0.9583, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203352.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.8317, causes a climb rate of 0.9592, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8330, causes a climb rate of 0.9600, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8342, causes a climb rate of 0.9609, which is too large. Aborting! : TerrainNav update at nav time = 1544.994161 : TerrainNav update at dvl time = 1544.994161 : _navData-> (x,y) = (4074868.45, 590850.84) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.8355, causes a climb rate of 0.9617, which is too large. Aborting! : NMEA Update: $GPGGA,203352.21,3648.9186,N,-12158.8840,W,1,03,00.5,047.7,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 0.8368, causes a climb rate of 0.9626, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203353.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.8380, causes a climb rate of 0.9635, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=59.86 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.8393, causes a climb rate of 0.9643, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8406, causes a climb rate of 0.9652, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8419, causes a climb rate of 0.9660, which is too large. Aborting! : NMEA Update: $GPGGA,203353.21,3648.9184,N,-12158.8830,W,1,03,00.5,047.8,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 0.8432, causes a climb rate of 0.9669, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203354.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1544.99 : -50.47 : Estimated East Bias at time = 1544.99 : -37.75 : Estimated Depth Bias at time = 1544.99 : 0.64 : Estimated northing and easting = 4074817.98 : 590813.08 : WaypointDepth -- ERROR. Waypoint slope = 0.8444, causes a climb rate of 0.9678, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.8457, causes a climb rate of 0.9686, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8470, causes a climb rate of 0.9695, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=59.67 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.8483, causes a climb rate of 0.9704, which is too large. Aborting! : NMEA Update: $GPGGA,203354.21,3648.9182,N,-12158.8820,W,1,03,00.5,048.1,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 0.8496, causes a climb rate of 0.9712, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203355.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.8510, causes a climb rate of 0.9721, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8523, causes a climb rate of 0.9730, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8536, causes a climb rate of 0.9738, which is too large. Aborting! : TerrainNav update at nav time = 1547.993955 : TerrainNav update at dvl time = 1547.993955 : _navData-> (x,y) = (4074867.43, 590855.34) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.8549, causes a climb rate of 0.9747, which is too large. Aborting! : NMEA Update: $GPGGA,203355.21,3648.9180,N,-12158.8810,W,1,03,00.5,048.0,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 0.8562, causes a climb rate of 0.9756, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=59.48 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203356.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.8575, causes a climb rate of 0.9764, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8589, causes a climb rate of 0.9773, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8602, causes a climb rate of 0.9782, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8615, causes a climb rate of 0.9791, which is too large. Aborting! : NMEA Update: $GPGGA,203356.21,3648.9178,N,-12158.8800,W,1,03,00.5,047.9,M,-99.9,M,,*48 : WaypointDepth -- ERROR. Waypoint slope = 0.8629, causes a climb rate of 0.9799, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203357.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1547.99 : -51.07 : Estimated East Bias at time = 1547.99 : -37.92 : Estimated Depth Bias at time = 1547.99 : 0.64 : Estimated northing and easting = 4074816.35 : 590817.42 : WaypointDepth -- ERROR. Waypoint slope = 0.8642, causes a climb rate of 0.9808, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.8655, causes a climb rate of 0.9817, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=59.29 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.8669, causes a climb rate of 0.9825, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8682, causes a climb rate of 0.9834, which is too large. Aborting! : NMEA Update: $GPGGA,203357.21,3648.9176,N,-12158.8790,W,1,03,00.5,047.8,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 0.8696, causes a climb rate of 0.9843, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203358.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.8709, causes a climb rate of 0.9852, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8723, causes a climb rate of 0.9860, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8737, causes a climb rate of 0.9869, which is too large. Aborting! : TerrainNav update at nav time = 1550.993750 : TerrainNav update at dvl time = 1550.993750 : _navData-> (x,y) = (4074866.40, 590859.80) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.8750, causes a climb rate of 0.9878, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=59.10 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203358.21,3648.9174,N,-12158.8780,W,1,03,00.5,047.8,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 0.8764, causes a climb rate of 0.9886, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203359.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.8778, causes a climb rate of 0.9895, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8791, causes a climb rate of 0.9904, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8805, causes a climb rate of 0.9913, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8819, causes a climb rate of 0.9921, which is too large. Aborting! : NMEA Update: $GPGGA,203359.21,3648.9172,N,-12158.8770,W,1,03,00.5,047.6,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 0.8832, causes a climb rate of 0.9930, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203400.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1550.99 : -51.42 : Estimated East Bias at time = 1550.99 : -38.00 : Estimated Depth Bias at time = 1550.99 : 0.64 : Estimated northing and easting = 4074814.98 : 590821.80 : WaypointDepth -- ERROR. Waypoint slope = 0.8846, causes a climb rate of 0.9939, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=58.92 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.8860, causes a climb rate of 0.9947, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8874, causes a climb rate of 0.9956, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8888, causes a climb rate of 0.9965, which is too large. Aborting! : NMEA Update: $GPGGA,203400.21,3648.9171,N,-12158.8760,W,1,03,00.5,048.7,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 0.8901, causes a climb rate of 0.9973, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203401.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.8915, causes a climb rate of 0.9982, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8929, causes a climb rate of 0.9991, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8943, causes a climb rate of 0.9999, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=58.73 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1553.993544 : TerrainNav update at dvl time = 1553.993544 : _navData-> (x,y) = (4074865.40, 590864.19) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.8958, causes a climb rate of 1.0008, which is too large. Aborting! : NMEA Update: $GPGGA,203401.21,3648.9169,N,-12158.8750,W,1,03,00.5,047.9,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 0.8972, causes a climb rate of 1.0017, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203402.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.8986, causes a climb rate of 1.0026, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9000, causes a climb rate of 1.0034, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9014, causes a climb rate of 1.0043, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9028, causes a climb rate of 1.0052, which is too large. Aborting! : NMEA Update: $GPGGA,203402.21,3648.9167,N,-12158.8741,W,1,03,00.5,049.3,M,-99.9,M,,*4e : WaypointDepth -- ERROR. Waypoint slope = 0.9043, causes a climb rate of 1.0061, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=58.55 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203403.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1553.99 : -51.96 : Estimated East Bias at time = 1553.99 : -38.03 : Estimated Depth Bias at time = 1553.99 : 0.63 : Estimated northing and easting = 4074813.44 : 590826.16 : WaypointDepth -- ERROR. Waypoint slope = 0.9057, causes a climb rate of 1.0069, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.9071, causes a climb rate of 1.0078, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9086, causes a climb rate of 1.0087, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9100, causes a climb rate of 1.0096, which is too large. Aborting! : NMEA Update: $GPGGA,203403.21,3648.9165,N,-12158.8731,W,1,03,00.5,048.8,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 0.9115, causes a climb rate of 1.0105, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203404.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.9130, causes a climb rate of 1.0113, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9144, causes a climb rate of 1.0122, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=58.36 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.9159, causes a climb rate of 1.0131, which is too large. Aborting! : TerrainNav update at nav time = 1556.993339 : TerrainNav update at dvl time = 1556.993339 : _navData-> (x,y) = (4074864.41, 590868.55) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.9174, causes a climb rate of 1.0140, which is too large. Aborting! : NMEA Update: $GPGGA,203404.21,3648.9163,N,-12158.8721,W,1,03,00.5,049.4,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 0.9188, causes a climb rate of 1.0149, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203405.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.9203, causes a climb rate of 1.0158, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9218, causes a climb rate of 1.0167, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9233, causes a climb rate of 1.0175, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9248, causes a climb rate of 1.0184, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=58.18 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203405.21,3648.9161,N,-12158.8711,W,1,03,00.5,048.8,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 0.9263, causes a climb rate of 1.0193, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203406.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.9278, causes a climb rate of 1.0202, which is too large. Aborting! : Estimated North Bias at time = 1556.99 : -53.36 : Estimated East Bias at time = 1556.99 : -38.51 : Estimated Depth Bias at time = 1556.99 : 0.64 : Estimated northing and easting = 4074811.05 : 590830.04 : WaypointDepth -- ERROR. Waypoint slope = 0.9293, causes a climb rate of 1.0211, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.9308, causes a climb rate of 1.0220, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9324, causes a climb rate of 1.0229, which is too large. Aborting! : NMEA Update: $GPGGA,203406.21,3648.9159,N,-12158.8702,W,1,03,00.5,048.4,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 0.9339, causes a climb rate of 1.0238, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203407.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.9355, causes a climb rate of 1.0247, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=57.99 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.9370, causes a climb rate of 1.0256, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9386, causes a climb rate of 1.0265, which is too large. Aborting! : TerrainNav update at nav time = 1559.993133 : TerrainNav update at dvl time = 1559.993133 : _navData-> (x,y) = (4074863.44, 590872.93) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.9401, causes a climb rate of 1.0274, which is too large. Aborting! : NMEA Update: $GPGGA,203407.21,3648.9158,N,-12158.8692,W,1,03,00.5,049.2,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 0.9417, causes a climb rate of 1.0284, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203408.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.9433, causes a climb rate of 1.0293, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9449, causes a climb rate of 1.0302, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9464, causes a climb rate of 1.0311, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=57.81 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.9480, causes a climb rate of 1.0320, which is too large. Aborting! : NMEA Update: $GPGGA,203408.21,3648.9156,N,-12158.8682,W,1,03,00.5,048.7,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 0.9496, causes a climb rate of 1.0329, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203409.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1559.99 : -54.47 : Estimated East Bias at time = 1559.99 : -38.91 : Estimated Depth Bias at time = 1559.99 : 0.64 : Estimated northing and easting = 4074808.97 : 590834.02 : WaypointDepth -- ERROR. Waypoint slope = 0.9512, causes a climb rate of 1.0338, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.9529, causes a climb rate of 1.0348, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9545, causes a climb rate of 1.0357, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9561, causes a climb rate of 1.0366, which is too large. Aborting! : NMEA Update: $GPGGA,203409.21,3648.9154,N,-12158.8672,W,1,03,00.5,049.2,M,-99.9,M,,*45 : WaypointDepth -- ERROR. Waypoint slope = 0.9577, causes a climb rate of 1.0375, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=57.62 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203410.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.9594, causes a climb rate of 1.0384, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9610, causes a climb rate of 1.0394, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9626, causes a climb rate of 1.0403, which is too large. Aborting! : TerrainNav update at nav time = 1562.992928 : TerrainNav update at dvl time = 1562.992928 : _navData-> (x,y) = (4074862.51, 590877.36) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.9643, causes a climb rate of 1.0412, which is too large. Aborting! : NMEA Update: $GPGGA,203410.21,3648.9152,N,-12158.8662,W,1,03,00.5,048.7,M,-99.9,M,,*4e : WaypointDepth -- ERROR. Waypoint slope = 0.9660, causes a climb rate of 1.0421, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203411.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.9676, causes a climb rate of 1.0431, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9694, causes a climb rate of 1.0440, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=57.43 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.9711, causes a climb rate of 1.0450, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9727, causes a climb rate of 1.0459, which is too large. Aborting! : NMEA Update: $GPGGA,203411.21,3648.9151,N,-12158.8652,W,1,03,00.5,049.4,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 0.9744, causes a climb rate of 1.0468, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203412.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1562.99 : -54.92 : Estimated East Bias at time = 1562.99 : -38.97 : Estimated Depth Bias at time = 1562.99 : 0.64 : Estimated northing and easting = 4074807.59 : 590838.39 : WaypointDepth -- ERROR. Waypoint slope = 0.9761, causes a climb rate of 1.0478, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.9778, causes a climb rate of 1.0487, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9796, causes a climb rate of 1.0496, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9813, causes a climb rate of 1.0506, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=57.24 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203412.21,3648.9149,N,-12158.8642,W,1,03,00.5,049.3,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 0.9830, causes a climb rate of 1.0515, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203413.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.9847, causes a climb rate of 1.0525, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9864, causes a climb rate of 1.0534, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9882, causes a climb rate of 1.0543, which is too large. Aborting! : TerrainNav update at nav time = 1566.002722 : TerrainNav update at dvl time = 1566.002722 : _navData-> (x,y) = (4074861.58, 590881.83) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.9899, causes a climb rate of 1.0553, which is too large. Aborting! : NMEA Update: $GPGGA,203413.21,3648.9147,N,-12158.8632,W,1,03,00.5,049.2,M,-99.9,M,,*48 : WaypointDepth -- ERROR. Waypoint slope = 0.9916, causes a climb rate of 1.0562, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203414.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.9934, causes a climb rate of 1.0571, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=57.06 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.9951, causes a climb rate of 1.0581, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9969, causes a climb rate of 1.0590, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9986, causes a climb rate of 1.0599, which is too large. Aborting! : NMEA Update: $GPGGA,203414.21,3648.9145,N,-12158.8622,W,1,03,00.5,049.4,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 1.0004, causes a climb rate of 1.0609, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203415.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1566.00 : -55.64 : WaypointDepth -- ERROR. Waypoint slope = 1.0021, causes a climb rate of 1.0618, which is too large. Aborting! : Estimated East Bias at time = 1566.00 : -39.17 : Estimated Depth Bias at time = 1566.00 : 0.64 : Estimated northing and easting = 4074805.95 : 590842.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.0039, causes a climb rate of 1.0627, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0057, causes a climb rate of 1.0637, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=56.87 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.0074, causes a climb rate of 1.0646, which is too large. Aborting! : NMEA Update: $GPGGA,203415.21,3648.9143,N,-12158.8612,W,1,03,00.5,049.3,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 1.0092, causes a climb rate of 1.0655, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203416.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.0110, causes a climb rate of 1.0664, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0128, causes a climb rate of 1.0674, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0146, causes a climb rate of 1.0683, which is too large. Aborting! : TerrainNav update at nav time = 1569.002516 : TerrainNav update at dvl time = 1569.002516 : _navData-> (x,y) = (4074860.63, 590886.21) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.0164, causes a climb rate of 1.0692, which is too large. Aborting! : NMEA Update: $GPGGA,203416.21,3648.9142,N,-12158.8603,W,1,03,00.5,049.7,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 1.0182, causes a climb rate of 1.0702, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=56.69 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203417.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.0200, causes a climb rate of 1.0711, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0218, causes a climb rate of 1.0720, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0236, causes a climb rate of 1.0730, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0255, causes a climb rate of 1.0739, which is too large. Aborting! : NMEA Update: $GPGGA,203417.21,3648.9140,N,-12158.8593,W,1,03,00.5,049.5,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 1.0273, causes a climb rate of 1.0749, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203418.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1569.00 : -56.43 : Estimated East Bias at time = 1569.00 : -39.34 : Estimated Depth Bias at time = 1569.00 : 0.64 : Estimated northing and easting = 4074804.20 : 590846.87 : WaypointDepth -- ERROR. Waypoint slope = 1.0292, causes a climb rate of 1.0758, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.0310, causes a climb rate of 1.0767, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=56.51 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.0328, causes a climb rate of 1.0777, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0347, causes a climb rate of 1.0786, which is too large. Aborting! : NMEA Update: $GPGGA,203418.21,3648.9138,N,-12158.8583,W,1,03,00.5,050.2,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 1.0366, causes a climb rate of 1.0795, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203419.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.0384, causes a climb rate of 1.0805, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0403, causes a climb rate of 1.0814, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0422, causes a climb rate of 1.0823, which is too large. Aborting! : TerrainNav update at nav time = 1572.002311 : TerrainNav update at dvl time = 1572.002311 : _navData-> (x,y) = (4074859.67, 590890.54) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.0441, causes a climb rate of 1.0833, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=56.32 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203419.21,3648.9136,N,-12158.8573,W,1,03,00.5,050.0,M,-99.9,M,,*48 : WaypointDepth -- ERROR. Waypoint slope = 1.0460, causes a climb rate of 1.0842, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203420.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.0479, causes a climb rate of 1.0852, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0498, causes a climb rate of 1.0861, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0517, causes a climb rate of 1.0871, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0537, causes a climb rate of 1.0880, which is too large. Aborting! : NMEA Update: $GPGGA,203420.21,3648.9134,N,-12158.8564,W,1,03,00.5,050.6,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 1.0556, causes a climb rate of 1.0890, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203421.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.0576, causes a climb rate of 1.0899, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=56.14 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 1572.00 : -57.37 : Estimated East Bias at time = 1572.00 : -39.61 : Estimated Depth Bias at time = 1572.00 : 0.64 : Estimated northing and easting = 4074802.30 : 590850.93 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.0595, causes a climb rate of 1.0909, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0615, causes a climb rate of 1.0918, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0635, causes a climb rate of 1.0928, which is too large. Aborting! : NMEA Update: $GPGGA,203421.21,3648.9133,N,-12158.8554,W,1,03,00.5,050.0,M,-99.9,M,,*43 : WaypointDepth -- ERROR. Waypoint slope = 1.0655, causes a climb rate of 1.0937, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203422.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.0675, causes a climb rate of 1.0947, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0695, causes a climb rate of 1.0956, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0715, causes a climb rate of 1.0966, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=55.96 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1575.002105 : TerrainNav update at dvl time = 1575.002105 : _navData-> (x,y) = (4074858.70, 590894.89) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.0735, causes a climb rate of 1.0976, which is too large. Aborting! : NMEA Update: $GPGGA,203422.21,3648.9131,N,-12158.8544,W,1,03,00.5,050.6,M,-99.9,M,,*45 : WaypointDepth -- ERROR. Waypoint slope = 1.0755, causes a climb rate of 1.0985, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203423.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.0775, causes a climb rate of 1.0995, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0796, causes a climb rate of 1.1004, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0816, causes a climb rate of 1.1014, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0837, causes a climb rate of 1.1024, which is too large. Aborting! : NMEA Update: $GPGGA,203423.21,3648.9129,N,-12158.8535,W,1,03,00.5,050.6,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 1.0857, causes a climb rate of 1.1033, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=55.77 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203424.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1575.00 : -58.37 : Estimated East Bias at time = 1575.00 : -39.94 : Estimated Depth Bias at time = 1575.00 : 0.64 : Estimated northing and easting = 4074800.33 : 590854.95 : WaypointDepth -- ERROR. Waypoint slope = 1.0878, causes a climb rate of 1.1043, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.0899, causes a climb rate of 1.1053, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0920, causes a climb rate of 1.1062, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0941, causes a climb rate of 1.1072, which is too large. Aborting! : NMEA Update: $GPGGA,203424.21,3648.9127,N,-12158.8525,W,1,03,00.5,051.1,M,-99.9,M,,*45 : WaypointDepth -- ERROR. Waypoint slope = 1.0962, causes a climb rate of 1.1082, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203425.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.0983, causes a climb rate of 1.1091, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1004, causes a climb rate of 1.1101, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=55.59 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.1025, causes a climb rate of 1.1111, which is too large. Aborting! : TerrainNav update at nav time = 1578.001899 : TerrainNav update at dvl time = 1578.001899 : _navData-> (x,y) = (4074857.76, 590899.26) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.1047, causes a climb rate of 1.1120, which is too large. Aborting! : NMEA Update: $GPGGA,203425.21,3648.9125,N,-12158.8515,W,1,03,00.5,050.9,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 1.1068, causes a climb rate of 1.1130, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203426.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.1090, causes a climb rate of 1.1140, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1111, causes a climb rate of 1.1149, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1133, causes a climb rate of 1.1159, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1155, causes a climb rate of 1.1169, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=55.40 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203426.21,3648.9124,N,-12158.8505,W,1,03,00.5,050.8,M,-99.9,M,,*4e : WaypointDepth -- ERROR. Waypoint slope = 1.1177, causes a climb rate of 1.1179, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203427.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1578.00 : -59.27 : Estimated East Bias at time = 1578.00 : -40.19 : Estimated Depth Bias at time = 1578.00 : 0.64 : Estimated northing and easting = 4074798.48 : 590859.07 : WaypointDepth -- ERROR. Waypoint slope = 1.1199, causes a climb rate of 1.1189, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.1221, causes a climb rate of 1.1199, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1244, causes a climb rate of 1.1208, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1266, causes a climb rate of 1.1218, which is too large. Aborting! : NMEA Update: $GPGGA,203427.21,3648.9122,N,-12158.8495,W,1,03,00.5,051.7,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 1.1288, causes a climb rate of 1.1228, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203428.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.1311, causes a climb rate of 1.1238, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=55.22 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.1333, causes a climb rate of 1.1248, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1356, causes a climb rate of 1.1257, which is too large. Aborting! : TerrainNav update at nav time = 1581.001694 : TerrainNav update at dvl time = 1581.001694 : _navData-> (x,y) = (4074856.90, 590903.67) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.1379, causes a climb rate of 1.1267, which is too large. Aborting! : NMEA Update: $GPGGA,203428.21,3648.9121,N,-12158.8485,W,1,03,00.5,051.3,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 1.1402, causes a climb rate of 1.1277, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203429.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.1425, causes a climb rate of 1.1287, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1448, causes a climb rate of 1.1297, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1471, causes a climb rate of 1.1307, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=55.03 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.1494, causes a climb rate of 1.1317, which is too large. Aborting! : NMEA Update: $GPGGA,203429.21,3648.9119,N,-12158.8475,W,1,03,00.5,051.1,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 1.1518, causes a climb rate of 1.1327, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203430.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1581.00 : -60.25 : Estimated East Bias at time = 1581.00 : -40.47 : Estimated Depth Bias at time = 1581.00 : 0.64 : Estimated northing and easting = 4074796.65 : 590863.20 : WaypointDepth -- ERROR. Waypoint slope = 1.1541, causes a climb rate of 1.1336, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.1565, causes a climb rate of 1.1346, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1588, causes a climb rate of 1.1356, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1612, causes a climb rate of 1.1366, which is too large. Aborting! : NMEA Update: $GPGGA,203430.21,3648.9117,N,-12158.8466,W,1,03,00.5,051.5,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 1.1635, causes a climb rate of 1.1376, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=54.85 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203431.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.1659, causes a climb rate of 1.1386, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1683, causes a climb rate of 1.1396, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1707, causes a climb rate of 1.1405, which is too large. Aborting! : TerrainNav update at nav time = 1584.001488 : TerrainNav update at dvl time = 1584.001488 : _navData-> (x,y) = (4074856.02, 590908.07) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.1731, causes a climb rate of 1.1415, which is too large. Aborting! : NMEA Update: $GPGGA,203431.21,3648.9115,N,-12158.8456,W,1,03,00.5,051.3,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 1.1755, causes a climb rate of 1.1425, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203432.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.1779, causes a climb rate of 1.1435, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1803, causes a climb rate of 1.1445, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=54.66 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.1827, causes a climb rate of 1.1454, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1852, causes a climb rate of 1.1464, which is too large. Aborting! : NMEA Update: $GPGGA,203432.21,3648.9114,N,-12158.8446,W,1,03,00.5,052.5,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 1.1876, causes a climb rate of 1.1474, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203433.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1584.00 : -60.63 : Estimated East Bias at time = 1584.00 : -40.49 : Estimated Depth Bias at time = 1584.00 : 0.64 : Estimated northing and easting = 4074795.39 : 590867.58 : WaypointDepth -- ERROR. Waypoint slope = 1.1901, causes a climb rate of 1.1484, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.1926, causes a climb rate of 1.1494, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1950, causes a climb rate of 1.1504, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1975, causes a climb rate of 1.1514, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=54.48 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203433.21,3648.9112,N,-12158.8437,W,1,03,00.5,052.4,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 1.2001, causes a climb rate of 1.1524, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203434.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.2026, causes a climb rate of 1.1533, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2051, causes a climb rate of 1.1543, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2077, causes a climb rate of 1.1553, which is too large. Aborting! : TerrainNav update at nav time = 1587.001283 : TerrainNav update at dvl time = 1587.001283 : _navData-> (x,y) = (4074855.02, 590912.40) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.2102, causes a climb rate of 1.1563, which is too large. Aborting! : NMEA Update: $GPGGA,203434.21,3648.9110,N,-12158.8427,W,1,03,00.5,052.4,M,-99.9,M,,*45 : WaypointDepth -- ERROR. Waypoint slope = 1.2128, causes a climb rate of 1.1573, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203435.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.2154, causes a climb rate of 1.1583, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=54.30 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.2180, causes a climb rate of 1.1593, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2206, causes a climb rate of 1.1603, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2233, causes a climb rate of 1.1613, which is too large. Aborting! : NMEA Update: $GPGGA,203435.21,3648.9108,N,-12158.8417,W,1,03,00.5,053.8,M,-99.9,M,,*43 : WaypointDepth -- ERROR. Waypoint slope = 1.2259, causes a climb rate of 1.1623, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203436.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1587.00 : -61.29 : Estimated East Bias at time = 1587.00 : -40.64 : Estimated Depth Bias at time = 1587.00 : 0.63 : Estimated northing and easting = 4074793.72 : 590871.76 : WaypointDepth -- ERROR. Waypoint slope = 1.2286, causes a climb rate of 1.1633, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.2312, causes a climb rate of 1.1643, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2339, causes a climb rate of 1.1654, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=54.11 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.2366, causes a climb rate of 1.1664, which is too large. Aborting! : NMEA Update: $GPGGA,203436.21,3648.9106,N,-12158.8407,W,1,03,00.5,053.7,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 1.2393, causes a climb rate of 1.1674, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203437.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.2421, causes a climb rate of 1.1684, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2448, causes a climb rate of 1.1694, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2476, causes a climb rate of 1.1704, which is too large. Aborting! : TerrainNav update at nav time = 1590.001077 : TerrainNav update at dvl time = 1590.001077 : _navData-> (x,y) = (4074853.93, 590916.78) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.2504, causes a climb rate of 1.1714, which is too large. Aborting! : NMEA Update: $GPGGA,203437.21,3648.9104,N,-12158.8397,W,1,03,00.5,054.1,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 1.2532, causes a climb rate of 1.1725, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=53.92 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203438.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.2560, causes a climb rate of 1.1735, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2589, causes a climb rate of 1.1745, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2617, causes a climb rate of 1.1755, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2645, causes a climb rate of 1.1766, which is too large. Aborting! : NMEA Update: $GPGGA,203438.21,3648.9102,N,-12158.8388,W,1,03,00.5,053.9,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 1.2674, causes a climb rate of 1.1776, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203439.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1590.00 : -62.65 : WaypointDepth -- ERROR. Waypoint slope = 1.2703, causes a climb rate of 1.1786, which is too large. Aborting! : Estimated East Bias at time = 1590.00 : -41.18 : Estimated Depth Bias at time = 1590.00 : 0.64 : Estimated northing and easting = 4074791.29 : 590875.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.2732, causes a climb rate of 1.1796, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=53.74 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.2761, causes a climb rate of 1.1807, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2791, causes a climb rate of 1.1817, which is too large. Aborting! : NMEA Update: $GPGGA,203439.21,3648.9100,N,-12158.8378,W,1,03,00.5,054.2,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 1.2820, causes a climb rate of 1.1828, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203440.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.2850, causes a climb rate of 1.1838, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2880, causes a climb rate of 1.1848, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2910, causes a climb rate of 1.1859, which is too large. Aborting! : TerrainNav update at nav time = 1593.000872 : TerrainNav update at dvl time = 1593.000872 : _navData-> (x,y) = (4074852.84, 590921.23) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.2940, causes a climb rate of 1.1869, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=53.55 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203440.21,3648.9097,N,-12158.8368,W,1,03,00.5,054.0,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 1.2970, causes a climb rate of 1.1879, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203441.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.3001, causes a climb rate of 1.1890, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.3031, causes a climb rate of 1.1900, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.3062, causes a climb rate of 1.1910, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.3093, causes a climb rate of 1.1921, which is too large. Aborting! : NMEA Update: $GPGGA,203441.21,3648.9096,N,-12158.8358,W,1,03,00.5,054.2,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 1.3123, causes a climb rate of 1.1931, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203442.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1593.00 : -63.67 : Estimated East Bias at time = 1593.00 : -41.55 : Estimated Depth Bias at time = 1593.00 : 0.64 : Estimated northing and easting = 4074789.17 : 590879.67 : WaypointDepth -- ERROR. Waypoint slope = 1.3154, causes a climb rate of 1.1941, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=53.36 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.3185, causes a climb rate of 1.1952, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.3217, causes a climb rate of 1.1962, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.3248, causes a climb rate of 1.1972, which is too large. Aborting! : NMEA Update: $GPGGA,203442.21,3648.9094,N,-12158.8348,W,1,03,00.5,054.5,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 1.3280, causes a climb rate of 1.1983, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203443.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.3311, causes a climb rate of 1.1993, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.3343, causes a climb rate of 1.2003, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.3375, causes a climb rate of 1.2013, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=53.17 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1596.000666 : TerrainNav update at dvl time = 1596.000666 : _navData-> (x,y) = (4074851.79, 590925.68) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.3407, causes a climb rate of 1.2024, which is too large. Aborting! : NMEA Update: $GPGGA,203443.21,3648.9092,N,-12158.8338,W,1,03,00.5,054.6,M,-99.9,M,,*43 : WaypointDepth -- ERROR. Waypoint slope = 1.3439, causes a climb rate of 1.2034, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203444.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.3471, causes a climb rate of 1.2044, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.3504, causes a climb rate of 1.2054, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.3536, causes a climb rate of 1.2065, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.3569, causes a climb rate of 1.2075, which is too large. Aborting! : NMEA Update: $GPGGA,203444.21,3648.9090,N,-12158.8328,W,1,03,00.5,054.8,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 1.3602, causes a climb rate of 1.2085, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=52.98 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203445.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1596.00 : -65.09 : Estimated East Bias at time = 1596.00 : -42.07 : Estimated Depth Bias at time = 1596.00 : 0.64 : Estimated northing and easting = 4074786.70 : 590883.61 : WaypointDepth -- ERROR. Waypoint slope = 1.3635, causes a climb rate of 1.2096, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.3667, causes a climb rate of 1.2106, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.3700, causes a climb rate of 1.2116, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.3734, causes a climb rate of 1.2126, which is too large. Aborting! : NMEA Update: $GPGGA,203445.21,3648.9088,N,-12158.8318,W,1,03,00.5,054.6,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 1.3767, causes a climb rate of 1.2136, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203446.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.3800, causes a climb rate of 1.2146, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.3834, causes a climb rate of 1.2157, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=52.80 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.3868, causes a climb rate of 1.2167, which is too large. Aborting! : TerrainNav update at nav time = 1599.000461 : TerrainNav update at dvl time = 1599.000461 : _navData-> (x,y) = (4074850.76, 590930.08) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.3902, causes a climb rate of 1.2177, which is too large. Aborting! : NMEA Update: $GPGGA,203446.21,3648.9086,N,-12158.8308,W,1,03,00.5,055.7,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 1.3936, causes a climb rate of 1.2187, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203447.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.3970, causes a climb rate of 1.2197, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.4005, causes a climb rate of 1.2207, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.4040, causes a climb rate of 1.2218, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.4075, causes a climb rate of 1.2228, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=52.61 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203447.21,3648.9084,N,-12158.8298,W,1,03,00.5,055.3,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 1.4110, causes a climb rate of 1.2238, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203448.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.4145, causes a climb rate of 1.2248, which is too large. Aborting! : Estimated North Bias at time = 1599.00 : -66.46 : Estimated East Bias at time = 1599.00 : -42.56 : Estimated Depth Bias at time = 1599.00 : 0.64 : Estimated northing and easting = 4074784.30 : 590887.52 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.4181, causes a climb rate of 1.2259, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.4216, causes a climb rate of 1.2269, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.4252, causes a climb rate of 1.2279, which is too large. Aborting! : NMEA Update: $GPGGA,203448.21,3648.9082,N,-12158.8289,W,1,03,00.5,054.4,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 1.4288, causes a climb rate of 1.2289, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203449.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.4324, causes a climb rate of 1.2299, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=52.43 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.4360, causes a climb rate of 1.2310, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.4397, causes a climb rate of 1.2320, which is too large. Aborting! : TerrainNav update at nav time = 1602.000256 : TerrainNav update at dvl time = 1602.000256 : _navData-> (x,y) = (4074849.70, 590934.46) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.4434, causes a climb rate of 1.2330, which is too large. Aborting! : NMEA Update: $GPGGA,203449.21,3648.9080,N,-12158.8279,W,1,03,00.5,054.7,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 1.4471, causes a climb rate of 1.2340, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203450.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.4509, causes a climb rate of 1.2351, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.4546, causes a climb rate of 1.2361, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.4584, causes a climb rate of 1.2371, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=52.24 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.4622, causes a climb rate of 1.2381, which is too large. Aborting! : NMEA Update: $GPGGA,203450.21,3648.9078,N,-12158.8269,W,1,03,00.5,056.2,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 1.4660, causes a climb rate of 1.2392, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203451.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.4699, causes a climb rate of 1.2402, which is too large. Aborting! : Estimated North Bias at time = 1602.00 : -67.13 : Estimated East Bias at time = 1602.00 : -42.76 : Estimated Depth Bias at time = 1602.00 : 0.64 : Estimated northing and easting = 4074782.58 : 590891.70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.4738, causes a climb rate of 1.2412, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.4777, causes a climb rate of 1.2423, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.4816, causes a climb rate of 1.2433, which is too large. Aborting! : NMEA Update: $GPGGA,203451.21,3648.9076,N,-12158.8259,W,1,03,00.5,056.1,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 1.4856, causes a climb rate of 1.2443, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=52.05 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203452.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.4896, causes a climb rate of 1.2454, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.4936, causes a climb rate of 1.2464, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.4976, causes a climb rate of 1.2475, which is too large. Aborting! : TerrainNav update at nav time = 1605.000050 : TerrainNav update at dvl time = 1605.000050 : _navData-> (x,y) = (4074848.67, 590938.91) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.5017, causes a climb rate of 1.2485, which is too large. Aborting! : NMEA Update: $GPGGA,203452.21,3648.9074,N,-12158.8249,W,1,03,00.5,056.5,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 1.5058, causes a climb rate of 1.2495, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203453.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.5099, causes a climb rate of 1.2506, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.5140, causes a climb rate of 1.2516, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=51.86 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.5182, causes a climb rate of 1.2527, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.5224, causes a climb rate of 1.2537, which is too large. Aborting! : NMEA Update: $GPGGA,203453.21,3648.9072,N,-12158.8239,W,1,03,00.5,056.8,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 1.5266, causes a climb rate of 1.2548, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203454.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.5308, causes a climb rate of 1.2558, which is too large. Aborting! : Estimated North Bias at time = 1605.00 : -68.26 : Estimated East Bias at time = 1605.00 : -43.18 : Estimated Depth Bias at time = 1605.00 : 0.64 : Estimated northing and easting = 4074780.41 : 590895.73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.5351, causes a climb rate of 1.2568, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.5394, causes a climb rate of 1.2579, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.5437, causes a climb rate of 1.2589, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=51.67 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203454.21,3648.9070,N,-12158.8229,W,1,03,00.5,056.4,M,-99.9,M,,*48 : WaypointDepth -- ERROR. Waypoint slope = 1.5481, causes a climb rate of 1.2600, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203455.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.5525, causes a climb rate of 1.2610, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.5569, causes a climb rate of 1.2621, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.5614, causes a climb rate of 1.2631, which is too large. Aborting! : TerrainNav update at nav time = 1607.999845 : TerrainNav update at dvl time = 1607.999845 : _navData-> (x,y) = (4074847.65, 590943.43) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.5658, causes a climb rate of 1.2642, which is too large. Aborting! : NMEA Update: $GPGGA,203455.21,3648.9068,N,-12158.8219,W,1,03,00.5,057.1,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 1.5704, causes a climb rate of 1.2652, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203456.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.5749, causes a climb rate of 1.2663, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=51.48 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.5795, causes a climb rate of 1.2674, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.5841, causes a climb rate of 1.2684, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.5888, causes a climb rate of 1.2695, which is too large. Aborting! : NMEA Update: $GPGGA,203456.21,3648.9066,N,-12158.8208,W,1,03,00.5,057.1,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 1.5934, causes a climb rate of 1.2705, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203457.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.5981, causes a climb rate of 1.2716, which is too large. Aborting! : Estimated North Bias at time = 1608.00 : -69.91 : Estimated East Bias at time = 1608.00 : -43.79 : Estimated Depth Bias at time = 1608.00 : 0.64 : Estimated northing and easting = 4074777.75 : 590899.64 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.6029, causes a climb rate of 1.2726, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.6076, causes a climb rate of 1.2737, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=51.28 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.6124, causes a climb rate of 1.2748, which is too large. Aborting! : NMEA Update: $GPGGA,203457.21,3648.9064,N,-12158.8198,W,1,03,00.5,057.0,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 1.6173, causes a climb rate of 1.2758, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203458.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.6221, causes a climb rate of 1.2769, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.6270, causes a climb rate of 1.2779, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.6319, causes a climb rate of 1.2790, which is too large. Aborting! : TerrainNav update at nav time = 1610.999639 : TerrainNav update at dvl time = 1610.999639 : _navData-> (x,y) = (4074846.66, 590948.03) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.6369, causes a climb rate of 1.2800, which is too large. Aborting! : NMEA Update: $GPGGA,203458.21,3648.9063,N,-12158.8188,W,1,03,00.5,058.0,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 1.6419, causes a climb rate of 1.2811, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=51.09 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203459.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.6469, causes a climb rate of 1.2821, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.6519, causes a climb rate of 1.2832, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.6570, causes a climb rate of 1.2842, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.6621, causes a climb rate of 1.2853, which is too large. Aborting! : NMEA Update: $GPGGA,203459.21,3648.9061,N,-12158.8177,W,1,03,00.5,057.0,M,-99.9,M,,*48 : WaypointDepth -- ERROR. Waypoint slope = 1.6672, causes a climb rate of 1.2863, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203500.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.6723, causes a climb rate of 1.2874, which is too large. Aborting! : Estimated North Bias at time = 1611.00 : -71.71 : Estimated East Bias at time = 1611.00 : -44.46 : Estimated Depth Bias at time = 1611.00 : 0.64 : Estimated northing and easting = 4074774.95 : 590903.58 : WaypointDepth -- ERROR. Waypoint slope = 1.6775, causes a climb rate of 1.2884, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=50.89 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.6827, causes a climb rate of 1.2895, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.6879, causes a climb rate of 1.2905, which is too large. Aborting! : NMEA Update: $GPGGA,203500.21,3648.9059,N,-12158.8167,W,1,03,00.5,058.0,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 1.6932, causes a climb rate of 1.2916, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203501.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.6985, causes a climb rate of 1.2926, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.7038, causes a climb rate of 1.2936, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.7091, causes a climb rate of 1.2947, which is too large. Aborting! : TerrainNav update at nav time = 1613.999434 : TerrainNav update at dvl time = 1613.999434 : _navData-> (x,y) = (4074845.62, 590952.62) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.7144, causes a climb rate of 1.2957, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=50.70 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203501.21,3648.9057,N,-12158.8157,W,1,03,00.5,057.6,M,-99.9,M,,*45 : WaypointDepth -- ERROR. Waypoint slope = 1.7198, causes a climb rate of 1.2967, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203502.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.7252, causes a climb rate of 1.2978, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.7307, causes a climb rate of 1.2988, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.7361, causes a climb rate of 1.2998, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.7417, causes a climb rate of 1.3008, which is too large. Aborting! : NMEA Update: $GPGGA,203502.21,3648.9055,N,-12158.8147,W,1,03,00.5,058.0,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 1.7472, causes a climb rate of 1.3018, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203503.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.7527, causes a climb rate of 1.3029, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=50.51 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.7583, causes a climb rate of 1.3039, which is too large. Aborting! : Estimated North Bias at time = 1614.00 : -72.83 : Estimated East Bias at time = 1614.00 : -44.77 : Estimated Depth Bias at time = 1614.00 : 0.65 : Estimated northing and easting = 4074772.79 : 590907.85 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.7639, causes a climb rate of 1.3049, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.7695, causes a climb rate of 1.3059, which is too large. Aborting! : NMEA Update: $GPGGA,203503.21,3648.9053,N,-12158.8137,W,1,03,00.5,058.7,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 1.7752, causes a climb rate of 1.3069, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203504.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.7808, causes a climb rate of 1.3079, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.7865, causes a climb rate of 1.3089, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.7923, causes a climb rate of 1.3099, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=50.32 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1616.999228 : TerrainNav update at dvl time = 1616.999228 : _navData-> (x,y) = (4074844.59, 590957.12) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.7981, causes a climb rate of 1.3109, which is too large. Aborting! : NMEA Update: $GPGGA,203504.21,3648.9051,N,-12158.8127,W,1,03,00.5,059.1,M,-99.9,M,,*48 : WaypointDepth -- ERROR. Waypoint slope = 1.8040, causes a climb rate of 1.3119, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203505.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.8099, causes a climb rate of 1.3129, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.8158, causes a climb rate of 1.3139, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.8218, causes a climb rate of 1.3149, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.8278, causes a climb rate of 1.3159, which is too large. Aborting! : NMEA Update: $GPGGA,203505.21,3648.9049,N,-12158.8117,W,1,03,00.5,059.5,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 1.8338, causes a climb rate of 1.3169, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=50.13 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203506.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.8399, causes a climb rate of 1.3179, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.8460, causes a climb rate of 1.3189, which is too large. Aborting! : Estimated North Bias at time = 1617.00 : -73.93 : Estimated East Bias at time = 1617.00 : -45.11 : Estimated Depth Bias at time = 1617.00 : 0.65 : Estimated northing and easting = 4074770.65 : 590912.02 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.8521, causes a climb rate of 1.3199, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.8583, causes a climb rate of 1.3209, which is too large. Aborting! : NMEA Update: $GPGGA,203506.21,3648.9047,N,-12158.8107,W,1,03,00.5,059.8,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 1.8645, causes a climb rate of 1.3219, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203507.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.8708, causes a climb rate of 1.3229, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.8771, causes a climb rate of 1.3239, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=49.94 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.8835, causes a climb rate of 1.3248, which is too large. Aborting! : TerrainNav update at nav time = 1619.999022 : TerrainNav update at dvl time = 1619.999022 : _navData-> (x,y) = (4074843.56, 590961.60) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.8899, causes a climb rate of 1.3258, which is too large. Aborting! : NMEA Update: $GPGGA,203507.21,3648.9045,N,-12158.8097,W,1,03,00.5,060.0,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 1.8963, causes a climb rate of 1.3268, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203508.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.9028, causes a climb rate of 1.3278, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.9093, causes a climb rate of 1.3288, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.9159, causes a climb rate of 1.3298, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.9226, causes a climb rate of 1.3307, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=49.75 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203508.21,3648.9043,N,-12158.8087,W,1,03,00.5,060.6,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 1.9293, causes a climb rate of 1.3317, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203509.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.9360, causes a climb rate of 1.3327, which is too large. Aborting! : Estimated North Bias at time = 1620.00 : -75.27 : Estimated East Bias at time = 1620.00 : -45.56 : Estimated Depth Bias at time = 1620.00 : 0.65 : Estimated northing and easting = 4074768.28 : 590916.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.9428, causes a climb rate of 1.3337, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.9497, causes a climb rate of 1.3347, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.9566, causes a climb rate of 1.3357, which is too large. Aborting! : NMEA Update: $GPGGA,203509.21,3648.9041,N,-12158.8077,W,1,03,00.5,060.6,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 1.9636, causes a climb rate of 1.3366, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203510.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.9706, causes a climb rate of 1.3376, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=49.56 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.9777, causes a climb rate of 1.3386, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.9848, causes a climb rate of 1.3396, which is too large. Aborting! : TerrainNav update at nav time = 1622.998817 : TerrainNav update at dvl time = 1622.998817 : _navData-> (x,y) = (4074842.58, 590966.10) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.9920, causes a climb rate of 1.3406, which is too large. Aborting! : NMEA Update: $GPGGA,203510.21,3648.9039,N,-12158.8066,W,1,03,00.5,061.1,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 1.9992, causes a climb rate of 1.3415, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203511.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.0065, causes a climb rate of 1.3425, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.0139, causes a climb rate of 1.3435, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.0213, causes a climb rate of 1.3445, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=49.37 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 2.0287, causes a climb rate of 1.3454, which is too large. Aborting! : NMEA Update: $GPGGA,203511.21,3648.9038,N,-12158.8056,W,1,03,00.5,061.0,M,-99.9,M,,*4e : WaypointDepth -- ERROR. Waypoint slope = 2.0362, causes a climb rate of 1.3464, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203512.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.0438, causes a climb rate of 1.3474, which is too large. Aborting! : Estimated North Bias at time = 1623.00 : -76.76 : Estimated East Bias at time = 1623.00 : -46.11 : Estimated Depth Bias at time = 1623.00 : 0.65 : Estimated northing and easting = 4074765.82 : 590919.99 : WaypointDepth -- ERROR. Waypoint slope = 2.0514, causes a climb rate of 1.3483, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 2.0591, causes a climb rate of 1.3493, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.0668, causes a climb rate of 1.3503, which is too large. Aborting! : NMEA Update: $GPGGA,203512.21,3648.9036,N,-12158.8046,W,1,03,00.5,061.3,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 2.0746, causes a climb rate of 1.3512, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=49.18 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203513.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.0824, causes a climb rate of 1.3522, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.0904, causes a climb rate of 1.3531, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.0983, causes a climb rate of 1.3541, which is too large. Aborting! : TerrainNav update at nav time = 1625.998611 : TerrainNav update at dvl time = 1625.998611 : _navData-> (x,y) = (4074841.65, 590970.64) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 2.1064, causes a climb rate of 1.3550, which is too large. Aborting! : NMEA Update: $GPGGA,203513.21,3648.9034,N,-12158.8036,W,1,03,00.5,061.7,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 2.1145, causes a climb rate of 1.3560, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203514.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.1227, causes a climb rate of 1.3570, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.1309, causes a climb rate of 1.3579, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=48.99 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 2.1392, causes a climb rate of 1.3589, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.1476, causes a climb rate of 1.3598, which is too large. Aborting! : NMEA Update: $GPGGA,203514.21,3648.9032,N,-12158.8026,W,1,03,00.5,062.5,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 2.1559, causes a climb rate of 1.3607, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203515.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.1644, causes a climb rate of 1.3617, which is too large. Aborting! : Estimated North Bias at time = 1626.00 : -78.10 : Estimated East Bias at time = 1626.00 : -46.54 : Estimated Depth Bias at time = 1626.00 : 0.65 : Estimated northing and easting = 4074763.55 : 590924.10 : WaypointDepth -- ERROR. Waypoint slope = 2.1729, causes a climb rate of 1.3626, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 2.1815, causes a climb rate of 1.3636, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.1902, causes a climb rate of 1.3645, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=48.80 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203515.21,3648.9031,N,-12158.8016,W,1,03,00.5,062.5,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 2.1989, causes a climb rate of 1.3654, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203516.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.2077, causes a climb rate of 1.3664, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.2165, causes a climb rate of 1.3673, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.2254, causes a climb rate of 1.3682, which is too large. Aborting! : TerrainNav update at nav time = 1628.998406 : TerrainNav update at dvl time = 1628.998406 : _navData-> (x,y) = (4074840.75, 590975.18) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 2.2343, causes a climb rate of 1.3691, which is too large. Aborting! : NMEA Update: $GPGGA,203516.21,3648.9029,N,-12158.8006,W,1,03,00.5,062.9,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 2.2433, causes a climb rate of 1.3700, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203517.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.2524, causes a climb rate of 1.3710, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=48.61 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 2.2615, causes a climb rate of 1.3719, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.2707, causes a climb rate of 1.3728, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.2799, causes a climb rate of 1.3737, which is too large. Aborting! : NMEA Update: $GPGGA,203517.21,3648.9027,N,-12158.7995,W,1,03,00.5,062.7,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 2.2893, causes a climb rate of 1.3746, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203518.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.2987, causes a climb rate of 1.3755, which is too large. Aborting! : Estimated North Bias at time = 1629.00 : -79.44 : Estimated East Bias at time = 1629.00 : -46.96 : Estimated Depth Bias at time = 1629.00 : 0.65 : Estimated northing and easting = 4074761.31 : 590928.22 : WaypointDepth -- ERROR. Waypoint slope = 2.3082, causes a climb rate of 1.3764, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 2.3178, causes a climb rate of 1.3773, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=48.42 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 2.3274, causes a climb rate of 1.3782, which is too large. Aborting! : NMEA Update: $GPGGA,203518.21,3648.9026,N,-12158.7985,W,1,03,00.5,063.1,M,-99.9,M,,*43 : WaypointDepth -- ERROR. Waypoint slope = 2.3372, causes a climb rate of 1.3791, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203519.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.3470, causes a climb rate of 1.3800, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.3569, causes a climb rate of 1.3808, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.3669, causes a climb rate of 1.3817, which is too large. Aborting! : TerrainNav update at nav time = 1631.998200 : TerrainNav update at dvl time = 1631.998200 : _navData-> (x,y) = (4074839.84, 590979.65) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 2.3769, causes a climb rate of 1.3826, which is too large. Aborting! : NMEA Update: $GPGGA,203519.21,3648.9024,N,-12158.7975,W,1,03,00.5,062.9,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 2.3870, causes a climb rate of 1.3835, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=48.23 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203520.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.3972, causes a climb rate of 1.3844, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.4075, causes a climb rate of 1.3853, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.4179, causes a climb rate of 1.3861, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.4283, causes a climb rate of 1.3870, which is too large. Aborting! : NMEA Update: $GPGGA,203520.21,3648.9022,N,-12158.7966,W,1,03,00.5,063.2,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 2.4388, causes a climb rate of 1.3879, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203521.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.4495, causes a climb rate of 1.3887, which is too large. Aborting! : Estimated North Bias at time = 1632.00 : -80.18 : Estimated East Bias at time = 1632.00 : -47.08 : Estimated Depth Bias at time = 1632.00 : 0.65 : Estimated northing and easting = 4074759.66 : 590932.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 2.4603, causes a climb rate of 1.3896, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=48.05 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 2.4712, causes a climb rate of 1.3905, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.4821, causes a climb rate of 1.3913, which is too large. Aborting! : NMEA Update: $GPGGA,203521.21,3648.9020,N,-12158.7956,W,1,03,00.5,063.5,M,-99.9,M,,*45 : WaypointDepth -- ERROR. Waypoint slope = 2.4932, causes a climb rate of 1.3922, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203522.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.5044, causes a climb rate of 1.3930, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.5156, causes a climb rate of 1.3939, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.5270, causes a climb rate of 1.3948, which is too large. Aborting! : TerrainNav update at nav time = 1634.997995 : TerrainNav update at dvl time = 1634.997995 : _navData-> (x,y) = (4074838.89, 590984.11) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 2.5385, causes a climb rate of 1.3956, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=47.86 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203522.21,3648.9018,N,-12158.7946,W,1,03,00.5,064.2,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 2.5501, causes a climb rate of 1.3965, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203523.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.5617, causes a climb rate of 1.3973, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.5735, causes a climb rate of 1.3982, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.5854, causes a climb rate of 1.3990, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.5974, causes a climb rate of 1.3998, which is too large. Aborting! : NMEA Update: $GPGGA,203523.21,3648.9017,N,-12158.7936,W,1,03,00.5,064.6,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 2.6095, causes a climb rate of 1.4007, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203524.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.6217, causes a climb rate of 1.4015, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=47.67 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 1635.00 : -81.20 : Estimated East Bias at time = 1635.00 : -47.37 : Estimated Depth Bias at time = 1635.00 : 0.65 : Estimated northing and easting = 4074757.69 : 590936.74 : WaypointDepth -- ERROR. Waypoint slope = 2.6341, causes a climb rate of 1.4023, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 2.6465, causes a climb rate of 1.4032, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.6591, causes a climb rate of 1.4040, which is too large. Aborting! : NMEA Update: $GPGGA,203524.21,3648.9015,N,-12158.7926,W,1,03,00.5,065.0,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 2.6718, causes a climb rate of 1.4048, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203525.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.6846, causes a climb rate of 1.4056, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.6975, causes a climb rate of 1.4065, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.7105, causes a climb rate of 1.4073, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=47.48 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1637.997789 : TerrainNav update at dvl time = 1637.997789 : _navData-> (x,y) = (4074837.90, 590988.55) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 2.7238, causes a climb rate of 1.4081, which is too large. Aborting! : NMEA Update: $GPGGA,203525.21,3648.9013,N,-12158.7916,W,1,03,00.5,065.6,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 2.7371, causes a climb rate of 1.4089, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203526.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.7506, causes a climb rate of 1.4097, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.7642, causes a climb rate of 1.4105, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.7780, causes a climb rate of 1.4113, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.7919, causes a climb rate of 1.4121, which is too large. Aborting! : NMEA Update: $GPGGA,203526.21,3648.9011,N,-12158.7906,W,1,03,00.5,065.2,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 2.8060, causes a climb rate of 1.4130, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=47.29 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203527.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.8202, causes a climb rate of 1.4138, which is too large. Aborting! : Estimated North Bias at time = 1638.00 : -82.33 : Estimated East Bias at time = 1638.00 : -47.69 : Estimated Depth Bias at time = 1638.00 : 0.65 : Estimated northing and easting = 4074755.57 : 590940.86 : WaypointDepth -- ERROR. Waypoint slope = 2.8345, causes a climb rate of 1.4146, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 2.8490, causes a climb rate of 1.4153, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.8635, causes a climb rate of 1.4161, which is too large. Aborting! : NMEA Update: $GPGGA,203527.21,3648.9009,N,-12158.7896,W,1,03,00.5,066.0,M,-99.9,M,,*45 : WaypointDepth -- ERROR. Waypoint slope = 2.8783, causes a climb rate of 1.4169, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203528.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.8932, causes a climb rate of 1.4177, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.9082, causes a climb rate of 1.4185, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=47.11 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 2.9235, causes a climb rate of 1.4193, which is too large. Aborting! : TerrainNav update at nav time = 1640.997584 : TerrainNav update at dvl time = 1640.997584 : _navData-> (x,y) = (4074836.80, 590992.99) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 2.9390, causes a climb rate of 1.4200, which is too large. Aborting! : NMEA Update: $GPGGA,203528.21,3648.9007,N,-12158.7886,W,1,03,00.5,065.3,M,-99.9,M,,*45 : WaypointDepth -- ERROR. Waypoint slope = 2.9546, causes a climb rate of 1.4208, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203529.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.9703, causes a climb rate of 1.4216, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.9863, causes a climb rate of 1.4224, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.0024, causes a climb rate of 1.4231, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.0187, causes a climb rate of 1.4239, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=46.92 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203529.21,3648.9004,N,-12158.7876,W,1,03,00.5,066.2,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 3.0352, causes a climb rate of 1.4247, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203530.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 3.0518, causes a climb rate of 1.4254, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.0686, causes a climb rate of 1.4262, which is too large. Aborting! : Estimated North Bias at time = 1641.00 : -82.81 : Estimated East Bias at time = 1641.00 : -47.80 : Estimated Depth Bias at time = 1641.00 : 0.64 : Estimated northing and easting = 4074753.99 : 590945.19 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 3.0855, causes a climb rate of 1.4269, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.1027, causes a climb rate of 1.4277, which is too large. Aborting! : NMEA Update: $GPGGA,203530.21,3648.9002,N,-12158.7866,W,1,03,00.5,066.6,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 3.1200, causes a climb rate of 1.4284, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203531.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 3.1375, causes a climb rate of 1.4292, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=46.73 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 3.1552, causes a climb rate of 1.4299, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.1730, causes a climb rate of 1.4306, which is too large. Aborting! : TerrainNav update at nav time = 1643.997379 : TerrainNav update at dvl time = 1643.997379 : _navData-> (x,y) = (4074835.70, 590997.43) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 3.1910, causes a climb rate of 1.4314, which is too large. Aborting! : NMEA Update: $GPGGA,203531.21,3648.9000,N,-12158.7856,W,1,03,00.5,067.6,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 3.2093, causes a climb rate of 1.4321, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203532.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 3.2277, causes a climb rate of 1.4328, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.2464, causes a climb rate of 1.4335, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.2654, causes a climb rate of 1.4343, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=46.54 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 3.2845, causes a climb rate of 1.4350, which is too large. Aborting! : NMEA Update: $GPGGA,203532.21,3648.8998,N,-12158.7846,W,1,03,00.5,067.4,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 3.3039, causes a climb rate of 1.4357, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203533.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 3.3233, causes a climb rate of 1.4364, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.3430, causes a climb rate of 1.4371, which is too large. Aborting! : Estimated North Bias at time = 1644.00 : -83.86 : Estimated East Bias at time = 1644.00 : -48.19 : Estimated Depth Bias at time = 1644.00 : 0.64 : Estimated northing and easting = 4074751.83 : 590949.24 : WaypointDepth -- ERROR. Waypoint slope = 3.3629, causes a climb rate of 1.4378, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 3.3830, causes a climb rate of 1.4385, which is too large. Aborting! : NMEA Update: $GPGGA,203533.21,3648.8997,N,-12158.7836,W,1,03,00.5,067.9,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 3.4033, causes a climb rate of 1.4392, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=46.36 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203534.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 3.4242, causes a climb rate of 1.4399, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.4453, causes a climb rate of 1.4405, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.4666, causes a climb rate of 1.4412, which is too large. Aborting! : TerrainNav update at nav time = 1646.997173 : TerrainNav update at dvl time = 1646.997173 : _navData-> (x,y) = (4074834.72, 591001.86) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 3.4883, causes a climb rate of 1.4419, which is too large. Aborting! : NMEA Update: $GPGGA,203534.21,3648.8995,N,-12158.7827,W,1,03,00.5,068.5,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 3.5102, causes a climb rate of 1.4426, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203535.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 3.5324, causes a climb rate of 1.4433, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.5550, causes a climb rate of 1.4440, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=46.17 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 3.5779, causes a climb rate of 1.4446, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.6010, causes a climb rate of 1.4453, which is too large. Aborting! : NMEA Update: $GPGGA,203535.21,3648.8993,N,-12158.7816,W,1,03,00.5,068.8,M,-99.9,M,,*43 : WaypointDepth -- ERROR. Waypoint slope = 3.6245, causes a climb rate of 1.4460, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203536.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 3.6482, causes a climb rate of 1.4466, which is too large. Aborting! : Estimated North Bias at time = 1647.00 : -85.12 : Estimated East Bias at time = 1647.00 : -48.64 : Estimated Depth Bias at time = 1647.00 : 0.64 : Estimated northing and easting = 4074749.59 : 590953.22 : WaypointDepth -- ERROR. Waypoint slope = 3.6722, causes a climb rate of 1.4473, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 3.6965, causes a climb rate of 1.4480, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.7211, causes a climb rate of 1.4486, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=45.98 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203536.21,3648.8991,N,-12158.7806,W,1,03,00.5,068.9,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 3.7461, causes a climb rate of 1.4493, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203537.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 3.7714, causes a climb rate of 1.4499, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.7970, causes a climb rate of 1.4505, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.8230, causes a climb rate of 1.4512, which is too large. Aborting! : TerrainNav update at nav time = 1649.996968 : TerrainNav update at dvl time = 1649.996968 : _navData-> (x,y) = (4074833.82, 591006.34) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 3.8493, causes a climb rate of 1.4518, which is too large. Aborting! : NMEA Update: $GPGGA,203537.21,3648.8990,N,-12158.7796,W,1,03,00.5,069.5,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 3.8760, causes a climb rate of 1.4524, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203538.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 3.9031, causes a climb rate of 1.4531, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=45.79 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 3.9305, causes a climb rate of 1.4537, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.9584, causes a climb rate of 1.4543, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.9866, causes a climb rate of 1.4549, which is too large. Aborting! : NMEA Update: $GPGGA,203538.21,3648.8988,N,-12158.7786,W,1,03,00.5,069.4,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 4.0151, causes a climb rate of 1.4555, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203539.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 4.0439, causes a climb rate of 1.4561, which is too large. Aborting! : Estimated North Bias at time = 1650.00 : -86.24 : Estimated East Bias at time = 1650.00 : -49.00 : Estimated Depth Bias at time = 1650.00 : 0.64 : Estimated northing and easting = 4074747.58 : 590957.35 : WaypointDepth -- ERROR. Waypoint slope = 4.0732, causes a climb rate of 1.4567, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 4.1029, causes a climb rate of 1.4573, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=45.60 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 4.1331, causes a climb rate of 1.4579, which is too large. Aborting! : NMEA Update: $GPGGA,203539.21,3648.8986,N,-12158.7776,W,1,03,00.5,069.9,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 4.1635, causes a climb rate of 1.4585, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203540.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 4.1944, causes a climb rate of 1.4591, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 4.2258, causes a climb rate of 1.4597, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 4.2576, causes a climb rate of 1.4603, which is too large. Aborting! : TerrainNav update at nav time = 1652.996762 : TerrainNav update at dvl time = 1652.996762 : _navData-> (x,y) = (4074832.93, 591010.79) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 4.2898, causes a climb rate of 1.4608, which is too large. Aborting! : NMEA Update: $GPGGA,203540.21,3648.8985,N,-12158.7767,W,1,03,00.5,070.5,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 4.3225, causes a climb rate of 1.4614, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=45.42 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203541.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 4.3556, causes a climb rate of 1.4620, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 4.3893, causes a climb rate of 1.4625, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 4.4236, causes a climb rate of 1.4631, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 4.4580, causes a climb rate of 1.4636, which is too large. Aborting! : NMEA Update: $GPGGA,203541.21,3648.8983,N,-12158.7757,W,1,03,00.5,071.2,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 4.4931, causes a climb rate of 1.4642, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203542.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 4.5286, causes a climb rate of 1.4647, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 4.5648, causes a climb rate of 1.4653, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=45.23 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 1653.00 : -87.31 : Estimated East Bias at time = 1653.00 : -49.30 : Estimated Depth Bias at time = 1653.00 : 0.63 : Estimated northing and easting = 4074745.62 : 590961.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 4.6015, causes a climb rate of 1.4658, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 4.6386, causes a climb rate of 1.4663, which is too large. Aborting! : NMEA Update: $GPGGA,203542.21,3648.8981,N,-12158.7747,W,1,03,00.5,071.6,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 4.6764, causes a climb rate of 1.4668, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203543.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 4.7148, causes a climb rate of 1.4674, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 4.7538, causes a climb rate of 1.4679, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 4.7934, causes a climb rate of 1.4684, which is too large. Aborting! : TerrainNav update at nav time = 1655.996557 : TerrainNav update at dvl time = 1655.996557 : _navData-> (x,y) = (4074832.01, 591015.16) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 4.8338, causes a climb rate of 1.4689, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=45.05 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203543.21,3648.8979,N,-12158.7737,W,1,03,00.5,071.3,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 4.8750, causes a climb rate of 1.4694, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203544.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 4.9168, causes a climb rate of 1.4699, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 4.9594, causes a climb rate of 1.4704, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 5.0027, causes a climb rate of 1.4709, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 5.0468, causes a climb rate of 1.4714, which is too large. Aborting! : NMEA Update: $GPGGA,203544.21,3648.8978,N,-12158.7728,W,1,03,00.5,071.6,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 5.0917, causes a climb rate of 1.4719, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203545.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 5.1373, causes a climb rate of 1.4724, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=44.87 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 5.1838, causes a climb rate of 1.4728, which is too large. Aborting! : Estimated North Bias at time = 1656.00 : -88.21 : Estimated East Bias at time = 1656.00 : -49.50 : Estimated Depth Bias at time = 1656.00 : 0.63 : Estimated northing and easting = 4074743.80 : 590965.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 5.2311, causes a climb rate of 1.4733, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 5.2791, causes a climb rate of 1.4738, which is too large. Aborting! : NMEA Update: $GPGGA,203545.21,3648.8976,N,-12158.7718,W,1,03,00.5,071.9,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 5.3281, causes a climb rate of 1.4743, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203546.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 5.3780, causes a climb rate of 1.4747, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 5.4289, causes a climb rate of 1.4752, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 5.4809, causes a climb rate of 1.4756, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=44.68 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1658.996351 : TerrainNav update at dvl time = 1658.996351 : _navData-> (x,y) = (4074831.10, 591019.52) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 5.5340, causes a climb rate of 1.4761, which is too large. Aborting! : NMEA Update: $GPGGA,203546.21,3648.8974,N,-12158.7708,W,1,03,00.5,072.6,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 5.5881, causes a climb rate of 1.4765, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203547.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 5.6433, causes a climb rate of 1.4770, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 5.6995, causes a climb rate of 1.4774, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 5.7573, causes a climb rate of 1.4779, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 5.8163, causes a climb rate of 1.4783, which is too large. Aborting! : NMEA Update: $GPGGA,203547.21,3648.8973,N,-12158.7698,W,1,03,00.5,073.0,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 5.8765, causes a climb rate of 1.4787, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=44.50 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203548.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 5.9380, causes a climb rate of 1.4792, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 6.0007, causes a climb rate of 1.4796, which is too large. Aborting! : Estimated North Bias at time = 1659.00 : -89.17 : Estimated East Bias at time = 1659.00 : -49.76 : Estimated Depth Bias at time = 1659.00 : 0.63 : Estimated northing and easting = 4074741.93 : 590969.75 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 6.0654, causes a climb rate of 1.4800, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 6.1315, causes a climb rate of 1.4804, which is too large. Aborting! : NMEA Update: $GPGGA,203548.21,3648.8971,N,-12158.7688,W,1,03,00.5,072.7,M,-99.9,M,,*48 : WaypointDepth -- ERROR. Waypoint slope = 6.1991, causes a climb rate of 1.4809, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203549.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 6.2681, causes a climb rate of 1.4813, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 6.3387, causes a climb rate of 1.4817, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=44.31 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 6.4112, causes a climb rate of 1.4821, which is too large. Aborting! : TerrainNav update at nav time = 1661.996145 : TerrainNav update at dvl time = 1661.996145 : _navData-> (x,y) = (4074830.21, 591023.93) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 6.4854, causes a climb rate of 1.4825, which is too large. Aborting! : NMEA Update: $GPGGA,203549.21,3648.8969,N,-12158.7678,W,1,03,00.5,073.0,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 6.5613, causes a climb rate of 1.4829, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203550.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 6.6389, causes a climb rate of 1.4833, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 6.7190, causes a climb rate of 1.4837, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 6.8011, causes a climb rate of 1.4840, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 6.8852, causes a climb rate of 1.4844, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=44.12 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203550.21,3648.8968,N,-12158.7668,W,1,03,00.5,073.3,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 6.9714, causes a climb rate of 1.4848, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203551.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 7.0597, causes a climb rate of 1.4852, which is too large. Aborting! : Estimated North Bias at time = 1662.00 : -89.87 : Estimated East Bias at time = 1662.00 : -49.89 : Estimated Depth Bias at time = 1662.00 : 0.63 : Estimated northing and easting = 4074740.34 : 590974.04 : WaypointDepth -- ERROR. Waypoint slope = 7.1510, causes a climb rate of 1.4855, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 7.2446, causes a climb rate of 1.4859, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 7.3407, causes a climb rate of 1.4863, which is too large. Aborting! : NMEA Update: $GPGGA,203551.20,3648.8966,N,-12158.7658,W,1,03,00.5,074.5,M,-99.9,M,,*4e : WaypointDepth -- ERROR. Waypoint slope = 7.4394, causes a climb rate of 1.4866, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203552.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 7.5408, causes a climb rate of 1.4870, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=43.94 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 7.6449, causes a climb rate of 1.4873, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 7.7519, causes a climb rate of 1.4877, which is too large. Aborting! : TerrainNav update at nav time = 1664.995940 : TerrainNav update at dvl time = 1664.995940 : _navData-> (x,y) = (4074829.31, 591028.43) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 7.8619, causes a climb rate of 1.4880, which is too large. Aborting! : NMEA Update: $GPGGA,203552.20,3648.8964,N,-12158.7648,W,1,03,00.5,073.7,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 7.9752, causes a climb rate of 1.4883, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203553.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 8.0917, causes a climb rate of 1.4887, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 8.2113, causes a climb rate of 1.4890, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 8.3346, causes a climb rate of 1.4893, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=43.75 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 8.4616, causes a climb rate of 1.4896, which is too large. Aborting! : NMEA Update: $GPGGA,203553.20,3648.8962,N,-12158.7638,W,1,03,00.5,074.7,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 8.5925, causes a climb rate of 1.4899, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203554.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 8.7275, causes a climb rate of 1.4902, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 8.8650, causes a climb rate of 1.4905, which is too large. Aborting! : Estimated North Bias at time = 1665.00 : -90.70 : Estimated East Bias at time = 1665.00 : -50.09 : Estimated Depth Bias at time = 1665.00 : 0.63 : Estimated northing and easting = 4074738.62 : 590978.34 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 9.0068, causes a climb rate of 1.4908, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 9.1533, causes a climb rate of 1.4911, which is too large. Aborting! : NMEA Update: $GPGGA,203554.20,3648.8961,N,-12158.7628,W,1,03,00.5,074.6,M,-99.9,M,,*48 : WaypointDepth -- ERROR. Waypoint slope = 9.3046, causes a climb rate of 1.4914, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=43.56 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203555.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 9.4609, causes a climb rate of 1.4917, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 9.6220, causes a climb rate of 1.4920, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 9.7886, causes a climb rate of 1.4922, which is too large. Aborting! : TerrainNav update at nav time = 1667.995734 : TerrainNav update at dvl time = 1667.995734 : _navData-> (x,y) = (4074828.38, 591032.89) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 9.9610, causes a climb rate of 1.4925, which is too large. Aborting! : NMEA Update: $GPGGA,203555.20,3648.8959,N,-12158.7618,W,1,03,00.5,075.1,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 10.1397, causes a climb rate of 1.4928, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203556.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 10.3249, causes a climb rate of 1.4930, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 10.5146, causes a climb rate of 1.4933, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=43.37 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 10.7115, causes a climb rate of 1.4935, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 10.9158, causes a climb rate of 1.4937, which is too large. Aborting! : NMEA Update: $GPGGA,203556.20,3648.8957,N,-12158.7608,W,1,03,00.5,074.9,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 11.1281, causes a climb rate of 1.4940, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203557.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 11.3488, causes a climb rate of 1.4942, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 11.5769, causes a climb rate of 1.4944, which is too large. Aborting! : Estimated North Bias at time = 1668.00 : -91.74 : Estimated East Bias at time = 1668.00 : -50.36 : Estimated Depth Bias at time = 1668.00 : 0.63 : Estimated northing and easting = 4074736.64 : 590982.54 : WaypointDepth -- ERROR. Waypoint slope = 11.8144, causes a climb rate of 1.4947, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 12.0618, causes a climb rate of 1.4949, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=43.19 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203557.20,3648.8955,N,-12158.7599,W,1,03,00.5,075.4,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 12.3199, causes a climb rate of 1.4951, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203558.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 12.5892, causes a climb rate of 1.4953, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 12.8677, causes a climb rate of 1.4955, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 13.1588, causes a climb rate of 1.4957, which is too large. Aborting! : TerrainNav update at nav time = 1670.995529 : TerrainNav update at dvl time = 1670.995529 : _navData-> (x,y) = (4074827.42, 591037.24) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 13.4634, causes a climb rate of 1.4959, which is too large. Aborting! : NMEA Update: $GPGGA,203558.20,3648.8953,N,-12158.7589,W,1,03,00.5,075.9,M,-99.9,M,,*43 : WaypointDepth -- ERROR. Waypoint slope = 13.7825, causes a climb rate of 1.4961, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203559.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 14.1172, causes a climb rate of 1.4963, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=43.01 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 14.4686, causes a climb rate of 1.4964, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 14.8379, causes a climb rate of 1.4966, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 15.2265, causes a climb rate of 1.4968, which is too large. Aborting! : NMEA Update: $GPGGA,203559.20,3648.8952,N,-12158.7580,W,1,03,00.5,075.9,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 15.6360, causes a climb rate of 1.4969, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203600.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 16.0699, causes a climb rate of 1.4971, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 16.5285, causes a climb rate of 1.4973, which is too large. Aborting! : Estimated North Bias at time = 1671.00 : -92.67 : Estimated East Bias at time = 1671.00 : -50.59 : Estimated Depth Bias at time = 1671.00 : 0.63 : Estimated northing and easting = 4074734.75 : 590986.65 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 17.0141, causes a climb rate of 1.4974, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=42.83 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 17.5290, causes a climb rate of 1.4976, which is too large. Aborting! : NMEA Update: $GPGGA,203600.20,3648.8950,N,-12158.7570,W,1,03,00.5,076.6,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 18.0761, causes a climb rate of 1.4977, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203601.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 18.6647, causes a climb rate of 1.4979, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 19.2930, causes a climb rate of 1.4980, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 19.9651, causes a climb rate of 1.4981, which is too large. Aborting! : TerrainNav update at nav time = 1673.995323 : TerrainNav update at dvl time = 1673.995323 : _navData-> (x,y) = (4074826.45, 591041.53) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 20.6856, causes a climb rate of 1.4983, which is too large. Aborting! : NMEA Update: $GPGGA,203601.20,3648.8948,N,-12158.7560,W,1,03,00.5,076.5,M,-99.9,M,,*4e : WaypointDepth -- ERROR. Waypoint slope = 21.4601, causes a climb rate of 1.4984, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=42.64 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203602.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 22.3041, causes a climb rate of 1.4985, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 23.2173, causes a climb rate of 1.4986, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 24.2083, causes a climb rate of 1.4987, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 25.2877, causes a climb rate of 1.4988, which is too large. Aborting! : NMEA Update: $GPGGA,203602.20,3648.8946,N,-12158.7550,W,1,03,00.5,076.3,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 26.4677, causes a climb rate of 1.4989, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203603.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 27.7799, causes a climb rate of 1.4990, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 29.2289, causes a climb rate of 1.4991, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=42.46 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 1674.00 : -93.47 : Estimated East Bias at time = 1674.00 : -50.80 : Estimated Depth Bias at time = 1674.00 : 0.63 : Estimated northing and easting = 4074732.98 : 590990.73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 30.8371, causes a climb rate of 1.4992, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 32.6324, causes a climb rate of 1.4993, which is too large. Aborting! : NMEA Update: $GPGGA,203603.20,3648.8944,N,-12158.7541,W,1,03,00.5,076.2,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 34.6492, causes a climb rate of 1.4994, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203604.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 36.9808, causes a climb rate of 1.4995, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 39.6481, causes a climb rate of 1.4995, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 42.7290, causes a climb rate of 1.4996, which is too large. Aborting! : TerrainNav update at nav time = 1676.995118 : TerrainNav update at dvl time = 1676.995118 : _navData-> (x,y) = (4074825.53, 591045.98) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 46.3273, causes a climb rate of 1.4997, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=42.27 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203604.20,3648.8943,N,-12158.7530,W,1,03,00.5,077.7,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 50.5848, causes a climb rate of 1.4997, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203605.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 55.7136, causes a climb rate of 1.4998, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 61.9925, causes a climb rate of 1.4998, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 69.8534, causes a climb rate of 1.4998, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 79.9731, causes a climb rate of 1.4999, which is too large. Aborting! : NMEA Update: $GPGGA,203605.20,3648.8941,N,-12158.7520,W,1,03,00.5,077.4,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 93.4716, causes a climb rate of 1.4999, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203606.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 112.7609, causes a climb rate of 1.4999, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=42.08 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 141.7493, causes a climb rate of 1.5000, which is too large. Aborting! : Estimated North Bias at time = 1677.00 : -94.23 : Estimated East Bias at time = 1677.00 : -51.03 : Estimated Depth Bias at time = 1677.00 : 0.63 : Estimated northing and easting = 4074731.30 : 590994.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. The distance from the start to the next waypoint is less than one meter. Aborting. : WaypointDepth -- ERROR. The distance from the start to the next waypoint is less than one meter. Aborting. : NMEA Update: $GPGGA,203606.20,3648.8939,N,-12158.7510,W,1,03,00.5,077.3,M,-99.9,M,,*4f : WaypointDepth -- ERROR. The distance from the start to the next waypoint is less than one meter. Aborting. : AshtechGps::processRecord() - $GPGGA,203607.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. The distance from the start to the next waypoint is less than one meter. Aborting. : WaypointDepth -- ERROR. The distance from the start to the next waypoint is less than one meter. Aborting. : WaypointDepth -- ERROR. The distance from the start to the next waypoint is less than one meter. Aborting. : LayeredControl _resolvedCommand - vertMode=2 vert=41.88 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1679.994912 : TerrainNav update at dvl time = 1679.994912 : _navData-> (x,y) = (4074824.63, 591050.60) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 155.2221, causes a climb rate of 1.5000, which is too large. Aborting! : NMEA Update: $GPGGA,203607.20,3648.8937,N,-12158.7499,W,1,03,00.5,077.2,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 121.2900, causes a climb rate of 1.4999, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203608.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 99.6051, causes a climb rate of 1.4999, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 84.4116, causes a climb rate of 1.4999, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 73.2005, causes a climb rate of 1.4999, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 64.5984, causes a climb rate of 1.4998, which is too large. Aborting! : NMEA Update: $GPGGA,203608.20,3648.8936,N,-12158.7489,W,1,03,00.5,078.8,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 57.7947, causes a climb rate of 1.4998, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=41.69 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203609.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 52.3510, causes a climb rate of 1.4997, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 47.8395, causes a climb rate of 1.4997, which is too large. Aborting! : Estimated North Bias at time = 1679.99 : -95.06 : Estimated East Bias at time = 1679.99 : -51.27 : Estimated Depth Bias at time = 1679.99 : 0.63 : Estimated northing and easting = 4074729.57 : 590999.33 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 44.0406, causes a climb rate of 1.4996, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 40.7986, causes a climb rate of 1.4995, which is too large. Aborting! : NMEA Update: $GPGGA,203609.20,3648.8934,N,-12158.7479,W,1,03,00.5,078.6,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 37.9996, causes a climb rate of 1.4995, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203610.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 35.6012, causes a climb rate of 1.4994, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 33.4866, causes a climb rate of 1.4993, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=41.50 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 31.6083, causes a climb rate of 1.4992, which is too large. Aborting! : TerrainNav update at nav time = 1682.994707 : TerrainNav update at dvl time = 1682.994707 : _navData-> (x,y) = (4074823.63, 591055.13) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 29.9290, causes a climb rate of 1.4992, which is too large. Aborting! : NMEA Update: $GPGGA,203610.20,3648.8932,N,-12158.7469,W,1,03,00.5,078.7,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 28.4188, causes a climb rate of 1.4991, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203611.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 27.0775, causes a climb rate of 1.4990, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 25.8568, causes a climb rate of 1.4989, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 24.7412, causes a climb rate of 1.4988, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 23.7176, causes a climb rate of 1.4987, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=41.31 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203611.20,3648.8930,N,-12158.7459,W,1,03,00.5,078.7,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 22.7753, causes a climb rate of 1.4986, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203612.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 21.9187, causes a climb rate of 1.4984, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 21.1241, causes a climb rate of 1.4983, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 20.3850, causes a climb rate of 1.4982, which is too large. Aborting! : Estimated North Bias at time = 1682.99 : -95.93 : Estimated East Bias at time = 1682.99 : -51.42 : Estimated Depth Bias at time = 1682.99 : 0.63 : Estimated northing and easting = 4074727.70 : 591003.70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 19.6958, causes a climb rate of 1.4981, which is too large. Aborting! : NMEA Update: $GPGGA,203612.20,3648.8928,N,-12158.7450,W,1,03,00.5,079.3,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 19.0516, causes a climb rate of 1.4979, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203613.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 18.4538, causes a climb rate of 1.4978, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=41.13 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 17.8923, causes a climb rate of 1.4977, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 17.3640, causes a climb rate of 1.4975, which is too large. Aborting! : TerrainNav update at nav time = 1685.994502 : TerrainNav update at dvl time = 1685.994502 : _navData-> (x,y) = (4074822.55, 591059.42) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 16.8658, causes a climb rate of 1.4974, which is too large. Aborting! : NMEA Update: $GPGGA,203613.20,3648.8926,N,-12158.7440,W,1,03,00.5,080.1,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 16.3954, causes a climb rate of 1.4972, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203614.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 15.9491, causes a climb rate of 1.4971, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 15.5264, causes a climb rate of 1.4969, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 15.1255, causes a climb rate of 1.4967, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=40.95 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 14.7447, causes a climb rate of 1.4966, which is too large. Aborting! : NMEA Update: $GPGGA,203614.21,3648.8924,N,-12158.7431,W,1,03,00.5,080.6,M,-99.9,M,,*4e : WaypointDepth -- ERROR. Waypoint slope = 14.3826, causes a climb rate of 1.4964, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203615.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 14.0366, causes a climb rate of 1.4962, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 13.7068, causes a climb rate of 1.4960, which is too large. Aborting! : Estimated North Bias at time = 1685.99 : -96.77 : Estimated East Bias at time = 1685.99 : -51.58 : Estimated Depth Bias at time = 1685.99 : 0.63 : Estimated northing and easting = 4074725.79 : 591007.84 : WaypointDepth -- ERROR. Waypoint slope = 13.3921, causes a climb rate of 1.4958, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 13.0915, causes a climb rate of 1.4956, which is too large. Aborting! : NMEA Update: $GPGGA,203615.21,3648.8922,N,-12158.7421,W,1,03,00.5,081.4,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 12.8041, causes a climb rate of 1.4954, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=40.77 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203616.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 12.5253, causes a climb rate of 1.4952, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 12.2584, causes a climb rate of 1.4950, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 12.0026, causes a climb rate of 1.4948, which is too large. Aborting! : TerrainNav update at nav time = 1688.994296 : TerrainNav update at dvl time = 1688.994296 : _navData-> (x,y) = (4074821.48, 591063.66) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 11.7572, causes a climb rate of 1.4946, which is too large. Aborting! : NMEA Update: $GPGGA,203616.21,3648.8920,N,-12158.7412,W,1,03,00.5,080.9,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 11.5217, causes a climb rate of 1.4944, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203617.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 11.2895, causes a climb rate of 1.4941, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 11.0665, causes a climb rate of 1.4939, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=40.59 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 10.8522, causes a climb rate of 1.4937, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 10.6459, causes a climb rate of 1.4934, which is too large. Aborting! : NMEA Update: $GPGGA,203617.21,3648.8918,N,-12158.7402,W,1,03,00.5,081.6,M,-99.9,M,,*43 : WaypointDepth -- ERROR. Waypoint slope = 10.4474, causes a climb rate of 1.4932, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203618.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 10.2562, causes a climb rate of 1.4929, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 10.0687, causes a climb rate of 1.4927, which is too large. Aborting! : Estimated North Bias at time = 1688.99 : -97.72 : Estimated East Bias at time = 1688.99 : -52.02 : Estimated Depth Bias at time = 1688.99 : 0.63 : Estimated northing and easting = 4074723.75 : 591011.64 : WaypointDepth -- ERROR. Waypoint slope = 9.8879, causes a climb rate of 1.4924, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 9.7136, causes a climb rate of 1.4921, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=40.40 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203618.21,3648.8916,N,-12158.7392,W,1,03,00.5,081.9,M,-99.9,M,,*43 : WaypointDepth -- ERROR. Waypoint slope = 9.5452, causes a climb rate of 1.4918, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203619.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 9.3827, causes a climb rate of 1.4916, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 9.2218, causes a climb rate of 1.4913, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 9.0664, causes a climb rate of 1.4910, which is too large. Aborting! : TerrainNav update at nav time = 1691.994091 : TerrainNav update at dvl time = 1691.994091 : _navData-> (x,y) = (4074820.47, 591068.13) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 8.9162, causes a climb rate of 1.4907, which is too large. Aborting! : NMEA Update: $GPGGA,203619.21,3648.8914,N,-12158.7382,W,1,03,00.5,081.8,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 8.7708, causes a climb rate of 1.4903, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203620.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 8.6301, causes a climb rate of 1.4900, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=40.20 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 8.4926, causes a climb rate of 1.4897, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 8.3594, causes a climb rate of 1.4894, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 8.2304, causes a climb rate of 1.4890, which is too large. Aborting! : NMEA Update: $GPGGA,203620.21,3648.8912,N,-12158.7371,W,1,03,00.5,081.7,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 8.1052, causes a climb rate of 1.4887, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203621.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 7.9838, causes a climb rate of 1.4884, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 7.8656, causes a climb rate of 1.4880, which is too large. Aborting! : Estimated North Bias at time = 1691.99 : -98.56 : Estimated East Bias at time = 1691.99 : -52.37 : Estimated Depth Bias at time = 1691.99 : 0.63 : Estimated northing and easting = 4074721.90 : 591015.76 : WaypointDepth -- ERROR. Waypoint slope = 7.7509, causes a climb rate of 1.4877, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=40.01 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 7.6394, causes a climb rate of 1.4873, which is too large. Aborting! : NMEA Update: $GPGGA,203621.21,3648.8910,N,-12158.7361,W,1,03,00.5,082.3,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 7.5312, causes a climb rate of 1.4869, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203622.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 7.4259, causes a climb rate of 1.4866, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 7.3237, causes a climb rate of 1.4862, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 7.2244, causes a climb rate of 1.4858, which is too large. Aborting! : TerrainNav update at nav time = 1694.993885 : TerrainNav update at dvl time = 1694.993885 : _navData-> (x,y) = (4074819.51, 591072.82) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 7.1277, causes a climb rate of 1.4855, which is too large. Aborting! : NMEA Update: $GPGGA,203622.21,3648.8909,N,-12158.7350,W,1,03,00.5,082.2,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 7.0335, causes a climb rate of 1.4851, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=39.81 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203623.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 6.9418, causes a climb rate of 1.4847, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 6.8542, causes a climb rate of 1.4843, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 6.7688, causes a climb rate of 1.4839, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 6.6855, causes a climb rate of 1.4835, which is too large. Aborting! : NMEA Update: $GPGGA,203623.21,3648.8907,N,-12158.7340,W,1,03,00.5,082.0,M,-99.9,M,,*4e : WaypointDepth -- ERROR. Waypoint slope = 6.6042, causes a climb rate of 1.4831, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203624.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 6.5248, causes a climb rate of 1.4827, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 6.4489, causes a climb rate of 1.4823, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=39.62 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 1694.99 : -99.52 : Estimated East Bias at time = 1694.99 : -52.67 : WaypointDepth -- ERROR. Waypoint slope = 6.3747, causes a climb rate of 1.4819, which is too large. Aborting! : Estimated Depth Bias at time = 1694.99 : 0.63 : Estimated northing and easting = 4074719.99 : 591020.15 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 6.3022, causes a climb rate of 1.4815, which is too large. Aborting! : NMEA Update: $GPGGA,203624.21,3648.8905,N,-12158.7330,W,1,03,00.5,082.9,M,-99.9,M,,*45 : WaypointDepth -- ERROR. Waypoint slope = 6.2313, causes a climb rate of 1.4810, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203625.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 6.1620, causes a climb rate of 1.4806, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 6.0958, causes a climb rate of 1.4802, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 6.0310, causes a climb rate of 1.4798, which is too large. Aborting! : TerrainNav update at nav time = 1697.993680 : TerrainNav update at dvl time = 1697.993680 : _navData-> (x,y) = (4074818.48, 591077.36) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 5.9676, causes a climb rate of 1.4794, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=39.43 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203625.21,3648.8903,N,-12158.7320,W,1,03,00.5,082.7,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 5.9055, causes a climb rate of 1.4789, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203626.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 5.8447, causes a climb rate of 1.4785, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 5.7867, causes a climb rate of 1.4781, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 5.7299, causes a climb rate of 1.4777, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 5.6741, causes a climb rate of 1.4772, which is too large. Aborting! : NMEA Update: $GPGGA,203626.21,3648.8901,N,-12158.7310,W,1,03,00.5,082.6,M,-99.9,M,,*4e : WaypointDepth -- ERROR. Waypoint slope = 5.6195, causes a climb rate of 1.4768, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203627.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 5.5659, causes a climb rate of 1.4764, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=39.25 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 5.5139, causes a climb rate of 1.4759, which is too large. Aborting! : Estimated North Bias at time = 1697.99 : -100.53 : Estimated East Bias at time = 1697.99 : -52.71 : Estimated Depth Bias at time = 1697.99 : 0.63 : Estimated northing and easting = 4074717.95 : 591024.65 : WaypointDepth -- ERROR. Waypoint slope = 5.4630, causes a climb rate of 1.4755, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 5.4130, causes a climb rate of 1.4750, which is too large. Aborting! : NMEA Update: $GPGGA,203627.21,3648.8898,N,-12158.7301,W,1,03,00.5,083.3,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 5.3639, causes a climb rate of 1.4746, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203628.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 5.3156, causes a climb rate of 1.4741, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 5.2682, causes a climb rate of 1.4737, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 5.2224, causes a climb rate of 1.4732, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=39.07 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1700.993474 : TerrainNav update at dvl time = 1700.993474 : _navData-> (x,y) = (4074817.36, 591081.58) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 5.1773, causes a climb rate of 1.4728, which is too large. Aborting! : NMEA Update: $GPGGA,203628.21,3648.8896,N,-12158.7292,W,1,03,00.5,083.1,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 5.1330, causes a climb rate of 1.4723, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203629.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 5.0894, causes a climb rate of 1.4719, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 5.0466, causes a climb rate of 1.4714, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 5.0044, causes a climb rate of 1.4709, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 4.9629, causes a climb rate of 1.4704, which is too large. Aborting! : NMEA Update: $GPGGA,203629.21,3648.8894,N,-12158.7283,W,1,03,00.5,084.5,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 4.9221, causes a climb rate of 1.4700, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=38.89 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203630.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 4.8820, causes a climb rate of 1.4695, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 4.8425, causes a climb rate of 1.4690, which is too large. Aborting! : Estimated North Bias at time = 1700.99 : -101.34 : Estimated East Bias at time = 1700.99 : -52.83 : Estimated Depth Bias at time = 1700.99 : 0.63 : Estimated northing and easting = 4074716.02 : 591028.75 : WaypointDepth -- ERROR. Waypoint slope = 4.8030, causes a climb rate of 1.4685, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 4.7641, causes a climb rate of 1.4680, which is too large. Aborting! : NMEA Update: $GPGGA,203630.21,3648.8892,N,-12158.7273,W,1,03,00.5,084.2,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 4.7259, causes a climb rate of 1.4675, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203631.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 4.6883, causes a climb rate of 1.4670, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 4.6513, causes a climb rate of 1.4665, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=38.72 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 4.6139, causes a climb rate of 1.4660, which is too large. Aborting! : TerrainNav update at nav time = 1703.993268 : TerrainNav update at dvl time = 1703.993268 : _navData-> (x,y) = (4074816.26, 591085.73) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 4.5771, causes a climb rate of 1.4654, which is too large. Aborting! : NMEA Update: $GPGGA,203631.21,3648.8890,N,-12158.7264,W,1,03,00.5,085.0,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 4.5408, causes a climb rate of 1.4649, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203632.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 4.5052, causes a climb rate of 1.4644, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 4.4700, causes a climb rate of 1.4638, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 4.4346, causes a climb rate of 1.4633, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 4.3996, causes a climb rate of 1.4627, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=38.53 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203632.21,3648.8888,N,-12158.7254,W,1,03,00.5,085.4,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 4.3653, causes a climb rate of 1.4621, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203633.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 4.3314, causes a climb rate of 1.4616, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 4.2981, causes a climb rate of 1.4610, which is too large. Aborting! : Estimated North Bias at time = 1703.99 : -102.33 : Estimated East Bias at time = 1703.99 : -53.19 : Estimated Depth Bias at time = 1703.99 : 0.63 : Estimated northing and easting = 4074713.93 : 591032.55 : WaypointDepth -- ERROR. Waypoint slope = 4.2648, causes a climb rate of 1.4604, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 4.2320, causes a climb rate of 1.4598, which is too large. Aborting! : NMEA Update: $GPGGA,203633.21,3648.8886,N,-12158.7244,W,1,03,00.5,085.1,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 4.1997, causes a climb rate of 1.4592, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203634.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 4.1679, causes a climb rate of 1.4586, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=38.34 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 4.1365, causes a climb rate of 1.4580, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 4.1057, causes a climb rate of 1.4574, which is too large. Aborting! : TerrainNav update at nav time = 1706.993063 : TerrainNav update at dvl time = 1706.993063 : _navData-> (x,y) = (4074815.29, 591090.19) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 4.0748, causes a climb rate of 1.4568, which is too large. Aborting! : NMEA Update: $GPGGA,203634.21,3648.8885,N,-12158.7234,W,1,03,00.5,085.9,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 4.0443, causes a climb rate of 1.4561, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203635.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 4.0144, causes a climb rate of 1.4555, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.9848, causes a climb rate of 1.4549, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.9557, causes a climb rate of 1.4543, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=38.15 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 3.9264, causes a climb rate of 1.4536, which is too large. Aborting! : NMEA Update: $GPGGA,203635.21,3648.8883,N,-12158.7223,W,1,03,00.5,085.7,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 3.8976, causes a climb rate of 1.4529, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203636.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 3.8692, causes a climb rate of 1.4523, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.8412, causes a climb rate of 1.4516, which is too large. Aborting! : Estimated North Bias at time = 1706.99 : -103.60 : Estimated East Bias at time = 1706.99 : -53.70 : Estimated Depth Bias at time = 1706.99 : 0.62 : Estimated northing and easting = 4074711.70 : 591036.49 : WaypointDepth -- ERROR. Waypoint slope = 3.8136, causes a climb rate of 1.4509, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 3.7865, causes a climb rate of 1.4503, which is too large. Aborting! : NMEA Update: $GPGGA,203636.21,3648.8881,N,-12158.7213,W,1,03,00.5,086.2,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 3.7598, causes a climb rate of 1.4496, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=37.95 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203637.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 3.7334, causes a climb rate of 1.4489, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.7062, causes a climb rate of 1.4482, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.6806, causes a climb rate of 1.4475, which is too large. Aborting! : TerrainNav update at nav time = 1710.002857 : TerrainNav update at dvl time = 1710.002857 : _navData-> (x,y) = (4074814.42, 591094.90) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 3.6556, causes a climb rate of 1.4468, which is too large. Aborting! : NMEA Update: $GPGGA,203637.21,3648.8880,N,-12158.7202,W,1,03,00.5,085.9,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 3.6309, causes a climb rate of 1.4462, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203638.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 3.6065, causes a climb rate of 1.4455, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.5825, causes a climb rate of 1.4448, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=37.75 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 3.5588, causes a climb rate of 1.4441, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.5360, causes a climb rate of 1.4434, which is too large. Aborting! : NMEA Update: $GPGGA,203638.21,3648.8878,N,-12158.7192,W,1,03,00.5,086.4,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 3.5135, causes a climb rate of 1.4427, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203639.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 3.4913, causes a climb rate of 1.4420, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.4694, causes a climb rate of 1.4413, which is too large. Aborting! : Estimated North Bias at time = 1710.00 : -104.81 : Estimated East Bias at time = 1710.00 : -54.09 : Estimated Depth Bias at time = 1710.00 : 0.62 : Estimated northing and easting = 4074709.61 : 591040.81 : WaypointDepth -- ERROR. Waypoint slope = 3.4477, causes a climb rate of 1.4406, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 3.4263, causes a climb rate of 1.4399, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=37.56 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203639.21,3648.8876,N,-12158.7182,W,1,03,00.5,086.4,M,-99.9,M,,*4e : WaypointDepth -- ERROR. Waypoint slope = 3.4057, causes a climb rate of 1.4392, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203640.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 3.3853, causes a climb rate of 1.4386, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.3652, causes a climb rate of 1.4379, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.3454, causes a climb rate of 1.4372, which is too large. Aborting! : TerrainNav update at nav time = 1713.002651 : TerrainNav update at dvl time = 1713.002651 : _navData-> (x,y) = (4074813.52, 591099.44) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 3.3257, causes a climb rate of 1.4365, which is too large. Aborting! : NMEA Update: $GPGGA,203640.21,3648.8875,N,-12158.7172,W,1,03,00.5,086.1,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 3.3068, causes a climb rate of 1.4358, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203641.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 3.2881, causes a climb rate of 1.4351, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=37.38 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 3.2697, causes a climb rate of 1.4344, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.2514, causes a climb rate of 1.4337, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.2334, causes a climb rate of 1.4330, which is too large. Aborting! : NMEA Update: $GPGGA,203641.21,3648.8873,N,-12158.7162,W,1,03,00.5,085.9,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 3.2159, causes a climb rate of 1.4323, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203642.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 3.1986, causes a climb rate of 1.4317, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.1815, causes a climb rate of 1.4310, which is too large. Aborting! : Estimated North Bias at time = 1713.00 : -106.01 : Estimated East Bias at time = 1713.00 : -54.34 : Estimated Depth Bias at time = 1713.00 : 0.62 : Estimated northing and easting = 4074707.51 : 591045.10 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 3.1645, causes a climb rate of 1.4303, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=37.20 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 3.1478, causes a climb rate of 1.4296, which is too large. Aborting! : NMEA Update: $GPGGA,203642.21,3648.8871,N,-12158.7153,W,1,03,00.5,087.5,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 3.1313, causes a climb rate of 1.4289, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203643.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 3.1150, causes a climb rate of 1.4282, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.0989, causes a climb rate of 1.4275, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.0830, causes a climb rate of 1.4268, which is too large. Aborting! : TerrainNav update at nav time = 1716.002446 : TerrainNav update at dvl time = 1716.002446 : _navData-> (x,y) = (4074812.52, 591103.65) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 3.0672, causes a climb rate of 1.4261, which is too large. Aborting! : NMEA Update: $GPGGA,203643.21,3648.8869,N,-12158.7144,W,1,03,00.5,086.6,M,-99.9,M,,*45 : WaypointDepth -- ERROR. Waypoint slope = 3.0515, causes a climb rate of 1.4254, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=37.02 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203644.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 3.0361, causes a climb rate of 1.4247, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.0207, causes a climb rate of 1.4240, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 3.0056, causes a climb rate of 1.4233, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.9906, causes a climb rate of 1.4226, which is too large. Aborting! : NMEA Update: $GPGGA,203644.21,3648.8867,N,-12158.7134,W,1,03,00.5,087.8,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 2.9757, causes a climb rate of 1.4219, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203645.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.9609, causes a climb rate of 1.4211, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.9462, causes a climb rate of 1.4204, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=36.85 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 1716.00 : -106.82 : Estimated East Bias at time = 1716.00 : -54.39 : Estimated Depth Bias at time = 1716.00 : 0.62 : Estimated northing and easting = 4074705.70 : 591049.26 : WaypointDepth -- ERROR. Waypoint slope = 2.9316, causes a climb rate of 1.4197, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 2.9172, causes a climb rate of 1.4189, which is too large. Aborting! : NMEA Update: $GPGGA,203645.21,3648.8865,N,-12158.7125,W,1,03,00.5,086.7,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 2.9030, causes a climb rate of 1.4182, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203646.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.8886, causes a climb rate of 1.4175, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.8744, causes a climb rate of 1.4167, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.8603, causes a climb rate of 1.4160, which is too large. Aborting! : TerrainNav update at nav time = 1719.002240 : TerrainNav update at dvl time = 1719.002240 : _navData-> (x,y) = (4074811.46, 591107.81) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 2.8464, causes a climb rate of 1.4152, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=36.67 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203646.21,3648.8863,N,-12158.7116,W,1,03,00.5,087.9,M,-99.9,M,,*43 : WaypointDepth -- ERROR. Waypoint slope = 2.8326, causes a climb rate of 1.4144, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203647.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.8185, causes a climb rate of 1.4137, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.8045, causes a climb rate of 1.4129, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.7907, causes a climb rate of 1.4121, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.7770, causes a climb rate of 1.4113, which is too large. Aborting! : NMEA Update: $GPGGA,203647.21,3648.8861,N,-12158.7106,W,1,03,00.5,087.5,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 2.7634, causes a climb rate of 1.4105, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203648.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.7497, causes a climb rate of 1.4097, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=36.48 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 2.7362, causes a climb rate of 1.4089, which is too large. Aborting! : Estimated North Bias at time = 1719.00 : -107.87 : Estimated East Bias at time = 1719.00 : -54.81 : Estimated Depth Bias at time = 1719.00 : 0.62 : Estimated northing and easting = 4074703.59 : 591053.00 : WaypointDepth -- ERROR. Waypoint slope = 2.7228, causes a climb rate of 1.4080, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 2.7095, causes a climb rate of 1.4072, which is too large. Aborting! : NMEA Update: $GPGGA,203648.21,3648.8859,N,-12158.7096,W,1,03,00.5,089.0,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 2.6963, causes a climb rate of 1.4064, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203649.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.6833, causes a climb rate of 1.4056, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.6702, causes a climb rate of 1.4047, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.6572, causes a climb rate of 1.4039, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=36.29 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1722.002035 : TerrainNav update at dvl time = 1722.002035 : _navData-> (x,y) = (4074810.47, 591112.24) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 2.6444, causes a climb rate of 1.4030, which is too large. Aborting! : NMEA Update: $GPGGA,203649.21,3648.8857,N,-12158.7086,W,1,03,00.5,088.8,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 2.6317, causes a climb rate of 1.4022, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203650.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.6191, causes a climb rate of 1.4013, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.6066, causes a climb rate of 1.4005, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.5942, causes a climb rate of 1.3996, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.5820, causes a climb rate of 1.3988, which is too large. Aborting! : NMEA Update: $GPGGA,203650.21,3648.8856,N,-12158.7076,W,1,03,00.5,089.7,M,-99.9,M,,*45 : WaypointDepth -- ERROR. Waypoint slope = 2.5698, causes a climb rate of 1.3979, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=36.10 horzlMode=4 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203651.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.5578, causes a climb rate of 1.3970, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.5459, causes a climb rate of 1.3962, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.5342, causes a climb rate of 1.3953, which is too large. Aborting! : Behavior waypoint_depth - Timed out! : LayeredControl::execute() -- (t = 1765.799034) Behavior waypoint_depth:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 1765.80 (wplog) The current location (N,E) = 4074809.9 , 591115.3 (wplog) The next waypoint = 4074657.4 , 591491.9 (wplog) The bearing to the next w.p. is 112.0 Degrees. : LayeredControl::execute() -- (t = 1765.799034) Behavior waypoint:-1 has changed to state Active : Estimated North Bias at time = 1722.00 : -109.15 : Estimated East Bias at time = 1722.00 : -55.40 : Estimated Depth Bias at time = 1722.00 : 0.62 : Estimated northing and easting = 4074701.32 : 591056.84 : WaypointDepth -- ERROR. Waypoint slope = 2.5225, causes a climb rate of 1.3944, which is too large. Aborting! : NMEA Update: $GPGGA,203651.21,3648.8854,N,-12158.7065,W,1,03,00.5,090.2,M,-99.9,M,,*49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 2.5110, causes a climb rate of 1.3936, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203652.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.4996, causes a climb rate of 1.3927, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.4883, causes a climb rate of 1.3918, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 2.4772, causes a climb rate of 1.3909, which is too large. Aborting! : TerrainNav update at nav time = 1725.001829 : TerrainNav update at dvl time = 1725.001829 : _navData-> (x,y) = (4074809.56, 591116.80) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 2.4661, causes a climb rate of 1.3901, which is too large. Aborting! : NMEA Update: $GPGGA,203652.21,3648.8852,N,-12158.7055,W,1,03,00.5,090.3,M,-99.9,M,,*4e : WaypointDepth -- ERROR. Waypoint slope = 2.4552, causes a climb rate of 1.3892, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203653.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.4443, causes a climb rate of 1.3883, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.4336, causes a climb rate of 1.3874, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.4231, causes a climb rate of 1.3866, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.4128, causes a climb rate of 1.3857, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203653.21,3648.8850,N,-12158.7045,W,1,03,00.5,090.5,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 2.4025, causes a climb rate of 1.3848, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203654.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.3924, causes a climb rate of 1.3840, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.3823, causes a climb rate of 1.3831, which is too large. Aborting! : Estimated North Bias at time = 1725.00 : -110.70 : Estimated East Bias at time = 1725.00 : -55.92 : Estimated Depth Bias at time = 1725.00 : 0.62 : Estimated northing and easting = 4074698.86 : 591060.88 : WaypointDepth -- ERROR. Waypoint slope = 2.3725, causes a climb rate of 1.3822, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 2.3627, causes a climb rate of 1.3814, which is too large. Aborting! : NMEA Update: $GPGGA,203654.21,3648.8848,N,-12158.7035,W,1,03,00.5,089.9,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 2.3531, causes a climb rate of 1.3805, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203655.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.3435, causes a climb rate of 1.3796, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 2.3340, causes a climb rate of 1.3788, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.3248, causes a climb rate of 1.3779, which is too large. Aborting! : TerrainNav update at nav time = 1728.001624 : TerrainNav update at dvl time = 1728.001624 : _navData-> (x,y) = (4074808.44, 591121.16) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 2.3156, causes a climb rate of 1.3771, which is too large. Aborting! : NMEA Update: $GPGGA,203655.21,3648.8846,N,-12158.7026,W,1,03,00.5,090.2,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 2.3065, causes a climb rate of 1.3762, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203656.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.2975, causes a climb rate of 1.3754, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.2886, causes a climb rate of 1.3745, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.2797, causes a climb rate of 1.3737, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 2.2711, causes a climb rate of 1.3728, which is too large. Aborting! : NMEA Update: $GPGGA,203656.21,3648.8843,N,-12158.7017,W,1,03,00.5,089.6,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 2.2625, causes a climb rate of 1.3720, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203657.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.2540, causes a climb rate of 1.3711, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.2455, causes a climb rate of 1.3703, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.2372, causes a climb rate of 1.3694, which is too large. Aborting! : Estimated North Bias at time = 1728.00 : -111.78 : Estimated East Bias at time = 1728.00 : -56.19 : Estimated Depth Bias at time = 1728.00 : 0.62 : Estimated northing and easting = 4074696.66 : 591064.98 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 2.2289, causes a climb rate of 1.3686, which is too large. Aborting! : NMEA Update: $GPGGA,203657.21,3648.8840,N,-12158.7008,W,1,03,00.5,090.8,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 2.2206, causes a climb rate of 1.3677, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203658.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.2125, causes a climb rate of 1.3669, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.2044, causes a climb rate of 1.3660, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.1963, causes a climb rate of 1.3652, which is too large. Aborting! : TerrainNav update at nav time = 1731.001418 : TerrainNav update at dvl time = 1731.001418 : _navData-> (x,y) = (4074806.73, 591125.16) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 2.1882, causes a climb rate of 1.3643, which is too large. Aborting! : NMEA Update: $GPGGA,203658.21,3648.8836,N,-12158.6999,W,1,03,00.5,091.9,M,-99.9,M,,*45 : WaypointDepth -- ERROR. Waypoint slope = 2.1802, causes a climb rate of 1.3634, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203659.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.1722, causes a climb rate of 1.3626, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.1643, causes a climb rate of 1.3617, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 2.1565, causes a climb rate of 1.3608, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.1486, causes a climb rate of 1.3599, which is too large. Aborting! : NMEA Update: $GPGGA,203659.21,3648.8832,N,-12158.6991,W,1,03,00.5,092.9,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 2.1408, causes a climb rate of 1.3590, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203700.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.1330, causes a climb rate of 1.3582, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.1253, causes a climb rate of 1.3573, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.1176, causes a climb rate of 1.3564, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.1100, causes a climb rate of 1.3555, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203700.21,3648.8828,N,-12158.6982,W,1,03,00.5,092.9,M,-99.9,M,,*4f : Estimated North Bias at time = 1731.00 : -112.31 : Estimated East Bias at time = 1731.00 : -56.35 : Estimated Depth Bias at time = 1731.00 : 0.62 : Estimated northing and easting = 4074694.42 : 591068.81 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 2.1024, causes a climb rate of 1.3546, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203701.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.0948, causes a climb rate of 1.3537, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.0873, causes a climb rate of 1.3528, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.0798, causes a climb rate of 1.3519, which is too large. Aborting! : TerrainNav update at nav time = 1734.001213 : TerrainNav update at dvl time = 1734.001213 : _navData-> (x,y) = (4074804.65, 591129.11) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 2.0724, causes a climb rate of 1.3509, which is too large. Aborting! : NMEA Update: $GPGGA,203701.21,3648.8824,N,-12158.6973,W,1,03,00.5,093.2,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 2.0650, causes a climb rate of 1.3500, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203702.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.0575, causes a climb rate of 1.3491, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 2.0502, causes a climb rate of 1.3482, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.0429, causes a climb rate of 1.3472, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.0356, causes a climb rate of 1.3463, which is too large. Aborting! : NMEA Update: $GPGGA,203702.21,3648.8821,N,-12158.6964,W,1,03,00.5,093.1,M,-99.9,M,,*45 : WaypointDepth -- ERROR. Waypoint slope = 2.0284, causes a climb rate of 1.3454, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203703.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 2.0213, causes a climb rate of 1.3445, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.0141, causes a climb rate of 1.3435, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 2.0070, causes a climb rate of 1.3426, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 2.0000, causes a climb rate of 1.3416, which is too large. Aborting! : NMEA Update: $GPGGA,203703.21,3648.8817,N,-12158.6955,W,1,03,00.5,094.0,M,-99.9,M,,*45 : Estimated North Bias at time = 1734.00 : -112.94 : Estimated East Bias at time = 1734.00 : -56.78 : Estimated Depth Bias at time = 1734.00 : 0.62 : Estimated northing and easting = 4074691.71 : 591072.33 : WaypointDepth -- ERROR. Waypoint slope = 1.9930, causes a climb rate of 1.3407, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203704.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.9862, causes a climb rate of 1.3398, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.9794, causes a climb rate of 1.3388, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.9726, causes a climb rate of 1.3379, which is too large. Aborting! : TerrainNav update at nav time = 1737.001007 : TerrainNav update at dvl time = 1737.001007 : _navData-> (x,y) = (4074802.57, 591133.17) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.9659, causes a climb rate of 1.3370, which is too large. Aborting! : NMEA Update: $GPGGA,203704.21,3648.8813,N,-12158.6946,W,1,03,00.5,094.4,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 1.9592, causes a climb rate of 1.3360, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203705.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.9526, causes a climb rate of 1.3351, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.9461, causes a climb rate of 1.3342, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.9396, causes a climb rate of 1.3332, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.9331, causes a climb rate of 1.3323, which is too large. Aborting! : NMEA Update: $GPGGA,203705.21,3648.8809,N,-12158.6937,W,1,03,00.5,094.5,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 1.9267, causes a climb rate of 1.3314, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203706.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.9204, causes a climb rate of 1.3304, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.9141, causes a climb rate of 1.3295, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.9078, causes a climb rate of 1.3286, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.9016, causes a climb rate of 1.3276, which is too large. Aborting! : Estimated North Bias at time = 1737.00 : -114.11 : Estimated East Bias at time = 1737.00 : -57.64 : Estimated Depth Bias at time = 1737.00 : 0.62 : Estimated northing and easting = 4074688.47 : 591075.53 : NMEA Update: $GPGGA,203706.21,3648.8806,N,-12158.6928,W,1,03,00.5,094.6,M,-99.9,M,,*4c : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.8955, causes a climb rate of 1.3267, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203707.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.8893, causes a climb rate of 1.3258, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.8833, causes a climb rate of 1.3248, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.8773, causes a climb rate of 1.3239, which is too large. Aborting! : TerrainNav update at nav time = 1740.000802 : TerrainNav update at dvl time = 1740.000802 : _navData-> (x,y) = (4074800.65, 591137.18) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.8714, causes a climb rate of 1.3230, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203707.21,3648.8803,N,-12158.6919,W,1,03,00.5,094.7,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 1.8655, causes a climb rate of 1.3220, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203708.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.8596, causes a climb rate of 1.3211, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.8537, causes a climb rate of 1.3202, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.8479, causes a climb rate of 1.3192, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.8421, causes a climb rate of 1.3183, which is too large. Aborting! : NMEA Update: $GPGGA,203708.21,3648.8799,N,-12158.6910,W,1,03,00.5,095.9,M,-99.9,M,,*4e : WaypointDepth -- ERROR. Waypoint slope = 1.8364, causes a climb rate of 1.3173, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203709.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.8307, causes a climb rate of 1.3164, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.8250, causes a climb rate of 1.3155, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.8193, causes a climb rate of 1.3145, which is too large. Aborting! : Estimated North Bias at time = 1740.00 : -115.35 : Estimated East Bias at time = 1740.00 : -58.39 : Estimated Depth Bias at time = 1740.00 : 0.62 : Estimated northing and easting = 4074685.30 : 591078.79 : WaypointDepth -- ERROR. Waypoint slope = 1.8136, causes a climb rate of 1.3136, which is too large. Aborting! : NMEA Update: $GPGGA,203709.21,3648.8796,N,-12158.6901,W,1,03,00.5,090.0,M,-99.9,M,,*4c : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.8080, causes a climb rate of 1.3126, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203710.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.8024, causes a climb rate of 1.3116, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.7968, causes a climb rate of 1.3107, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.7912, causes a climb rate of 1.3097, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1743.000596 : TerrainNav update at dvl time = 1743.000596 : _navData-> (x,y) = (4074798.86, 591141.20) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.7856, causes a climb rate of 1.3087, which is too large. Aborting! : NMEA Update: $GPGGA,203710.21,3648.8793,N,-12158.6892,W,1,03,00.5,094.7,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 1.7800, causes a climb rate of 1.3078, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203711.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.7745, causes a climb rate of 1.3068, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.7690, causes a climb rate of 1.3058, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.7635, causes a climb rate of 1.3048, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.7580, causes a climb rate of 1.3038, which is too large. Aborting! : NMEA Update: $GPGGA,203711.21,3648.8789,N,-12158.6883,W,1,03,00.5,096.0,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 1.7525, causes a climb rate of 1.3028, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203712.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.7470, causes a climb rate of 1.3018, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.7416, causes a climb rate of 1.3008, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.7362, causes a climb rate of 1.2998, which is too large. Aborting! : Estimated North Bias at time = 1743.00 : -116.26 : Estimated East Bias at time = 1743.00 : -58.99 : Estimated Depth Bias at time = 1743.00 : 0.62 : Estimated northing and easting = 4074682.60 : 591082.21 : WaypointDepth -- ERROR. Waypoint slope = 1.7308, causes a climb rate of 1.2988, which is too large. Aborting! : NMEA Update: $GPGGA,203712.21,3648.8786,N,-12158.6873,W,1,03,00.5,091.1,M,-99.9,M,,*43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.7255, causes a climb rate of 1.2978, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203713.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.7201, causes a climb rate of 1.2968, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.7148, causes a climb rate of 1.2958, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.7095, causes a climb rate of 1.2948, which is too large. Aborting! : TerrainNav update at nav time = 1746.000391 : TerrainNav update at dvl time = 1746.000391 : _navData-> (x,y) = (4074797.11, 591145.42) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.7043, causes a climb rate of 1.2937, which is too large. Aborting! : NMEA Update: $GPGGA,203713.21,3648.8783,N,-12158.6864,W,1,03,00.5,095.0,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 1.6990, causes a climb rate of 1.2927, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203714.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.6938, causes a climb rate of 1.2917, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.6886, causes a climb rate of 1.2907, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.6835, causes a climb rate of 1.2896, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.6784, causes a climb rate of 1.2886, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203714.21,3648.8780,N,-12158.6854,W,1,03,00.5,095.0,M,-99.9,M,,*43 : WaypointDepth -- ERROR. Waypoint slope = 1.6733, causes a climb rate of 1.2876, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203715.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.6683, causes a climb rate of 1.2866, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.6633, causes a climb rate of 1.2856, which is too large. Aborting! : Estimated North Bias at time = 1746.00 : -116.32 : Estimated East Bias at time = 1746.00 : -59.05 : Estimated Depth Bias at time = 1746.00 : 0.62 : Estimated northing and easting = 4074680.78 : 591086.37 : WaypointDepth -- ERROR. Waypoint slope = 1.6584, causes a climb rate of 1.2845, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.6534, causes a climb rate of 1.2835, which is too large. Aborting! : NMEA Update: $GPGGA,203715.21,3648.8776,N,-12158.6845,W,1,03,00.5,095.9,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 1.6486, causes a climb rate of 1.2825, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203716.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.6438, causes a climb rate of 1.2815, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.6390, causes a climb rate of 1.2805, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.6343, causes a climb rate of 1.2795, which is too large. Aborting! : TerrainNav update at nav time = 1749.000185 : TerrainNav update at dvl time = 1749.000185 : _navData-> (x,y) = (4074795.38, 591149.69) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.6296, causes a climb rate of 1.2785, which is too large. Aborting! : NMEA Update: $GPGGA,203716.21,3648.8773,N,-12158.6835,W,1,03,00.5,092.1,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 1.6250, causes a climb rate of 1.2775, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203717.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.6204, causes a climb rate of 1.2765, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.6159, causes a climb rate of 1.2755, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.6113, causes a climb rate of 1.2745, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.6068, causes a climb rate of 1.2735, which is too large. Aborting! : NMEA Update: $GPGGA,203717.21,3648.8770,N,-12158.6826,W,1,03,00.5,095.1,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 1.6024, causes a climb rate of 1.2725, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203718.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.5980, causes a climb rate of 1.2715, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.5936, causes a climb rate of 1.2706, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.5893, causes a climb rate of 1.2696, which is too large. Aborting! : Estimated North Bias at time = 1749.00 : -116.39 : Estimated East Bias at time = 1749.00 : -59.00 : Estimated Depth Bias at time = 1749.00 : 0.63 : Estimated northing and easting = 4074678.99 : 591090.69 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.5850, causes a climb rate of 1.2686, which is too large. Aborting! : NMEA Update: $GPGGA,203718.21,3648.8767,N,-12158.6817,W,1,03,00.5,096.0,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 1.5807, causes a climb rate of 1.2676, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203719.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.5764, causes a climb rate of 1.2667, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.5722, causes a climb rate of 1.2657, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.5680, causes a climb rate of 1.2647, which is too large. Aborting! : TerrainNav update at nav time = 1751.999980 : TerrainNav update at dvl time = 1751.999980 : _navData-> (x,y) = (4074793.72, 591153.78) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.5638, causes a climb rate of 1.2637, which is too large. Aborting! : NMEA Update: $GPGGA,203719.21,3648.8764,N,-12158.6808,W,1,03,00.5,092.1,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 1.5597, causes a climb rate of 1.2627, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203720.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.5555, causes a climb rate of 1.2618, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.5514, causes a climb rate of 1.2608, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.5472, causes a climb rate of 1.2598, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.5431, causes a climb rate of 1.2588, which is too large. Aborting! : NMEA Update: $GPGGA,203720.21,3648.8761,N,-12158.6799,W,1,03,00.5,097.1,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 1.5390, causes a climb rate of 1.2578, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203721.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.5350, causes a climb rate of 1.2568, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.5308, causes a climb rate of 1.2558, which is too large. Aborting! : Estimated North Bias at time = 1752.00 : -116.35 : Estimated East Bias at time = 1752.00 : -58.74 : Estimated Depth Bias at time = 1752.00 : 0.63 : Estimated northing and easting = 4074677.37 : 591095.04 : WaypointDepth -- ERROR. Waypoint slope = 1.5267, causes a climb rate of 1.2548, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.5226, causes a climb rate of 1.2538, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203721.21,3648.8758,N,-12158.6789,W,1,03,00.5,093.1,M,-99.9,M,,*48 : WaypointDepth -- ERROR. Waypoint slope = 1.5185, causes a climb rate of 1.2528, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203722.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.5144, causes a climb rate of 1.2517, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.5103, causes a climb rate of 1.2507, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.5062, causes a climb rate of 1.2496, which is too large. Aborting! : TerrainNav update at nav time = 1754.999774 : TerrainNav update at dvl time = 1754.999774 : _navData-> (x,y) = (4074792.06, 591157.93) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.5020, causes a climb rate of 1.2486, which is too large. Aborting! : NMEA Update: $GPGGA,203722.21,3648.8755,N,-12158.6780,W,1,03,00.5,097.3,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 1.4980, causes a climb rate of 1.2476, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203723.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.4939, causes a climb rate of 1.2465, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.4898, causes a climb rate of 1.2455, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.4857, causes a climb rate of 1.2444, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.4815, causes a climb rate of 1.2433, which is too large. Aborting! : NMEA Update: $GPGGA,203723.21,3648.8752,N,-12158.6770,W,1,03,00.5,092.9,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 1.4774, causes a climb rate of 1.2422, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203724.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.4733, causes a climb rate of 1.2411, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.4692, causes a climb rate of 1.2400, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.4651, causes a climb rate of 1.2389, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.4610, causes a climb rate of 1.2378, which is too large. Aborting! : Estimated North Bias at time = 1755.00 : -117.40 : Estimated East Bias at time = 1755.00 : -59.46 : Estimated Depth Bias at time = 1755.00 : 0.62 : Estimated northing and easting = 4074674.67 : 591098.48 : NMEA Update: $GPGGA,203724.21,3648.8749,N,-12158.6760,W,1,03,00.5,097.8,M,-99.9,M,,*47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.4569, causes a climb rate of 1.2367, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203725.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.4528, causes a climb rate of 1.2356, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.4488, causes a climb rate of 1.2345, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.4448, causes a climb rate of 1.2334, which is too large. Aborting! : TerrainNav update at nav time = 1757.999569 : TerrainNav update at dvl time = 1757.999569 : _navData-> (x,y) = (4074790.36, 591162.43) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.4407, causes a climb rate of 1.2323, which is too large. Aborting! : NMEA Update: $GPGGA,203725.21,3648.8745,N,-12158.6750,W,1,03,00.5,092.8,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 1.4367, causes a climb rate of 1.2311, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203726.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.4327, causes a climb rate of 1.2300, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.4287, causes a climb rate of 1.2289, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.4248, causes a climb rate of 1.2278, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.4209, causes a climb rate of 1.2267, which is too large. Aborting! : NMEA Update: $GPGGA,203726.21,3648.8742,N,-12158.6739,W,1,03,00.5,097.7,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 1.4170, causes a climb rate of 1.2255, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203727.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.4131, causes a climb rate of 1.2244, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.4093, causes a climb rate of 1.2233, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.4055, causes a climb rate of 1.2222, which is too large. Aborting! : Estimated North Bias at time = 1758.00 : -117.17 : Estimated East Bias at time = 1758.00 : -59.46 : Estimated Depth Bias at time = 1758.00 : 0.63 : Estimated northing and easting = 4074673.19 : 591102.97 : WaypointDepth -- ERROR. Waypoint slope = 1.4018, causes a climb rate of 1.2211, which is too large. Aborting! : NMEA Update: $GPGGA,203727.21,3648.8739,N,-12158.6729,W,1,03,00.5,093.5,M,-99.9,M,,*47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.3981, causes a climb rate of 1.2200, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203728.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.3944, causes a climb rate of 1.2189, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.3907, causes a climb rate of 1.2178, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.3871, causes a climb rate of 1.2168, which is too large. Aborting! : TerrainNav update at nav time = 1760.999363 : TerrainNav update at dvl time = 1760.999363 : _navData-> (x,y) = (4074788.66, 591167.03) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.3834, causes a climb rate of 1.2157, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203728.21,3648.8736,N,-12158.6719,W,1,03,00.5,093.5,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 1.3799, causes a climb rate of 1.2146, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203729.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.3765, causes a climb rate of 1.2135, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.3730, causes a climb rate of 1.2125, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.3695, causes a climb rate of 1.2114, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.3661, causes a climb rate of 1.2104, which is too large. Aborting! : NMEA Update: $GPGGA,203729.21,3648.8733,N,-12158.6709,W,1,03,00.5,098.4,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 1.3628, causes a climb rate of 1.2094, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203730.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.3595, causes a climb rate of 1.2083, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.3562, causes a climb rate of 1.2073, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.3530, causes a climb rate of 1.2063, which is too large. Aborting! : Estimated North Bias at time = 1761.00 : -117.68 : Estimated East Bias at time = 1761.00 : -59.56 : Estimated Depth Bias at time = 1761.00 : 0.63 : Estimated northing and easting = 4074670.98 : 591107.47 : WaypointDepth -- ERROR. Waypoint slope = 1.3497, causes a climb rate of 1.2053, which is too large. Aborting! : NMEA Update: $GPGGA,203730.21,3648.8730,N,-12158.6700,W,1,03,00.5,093.6,M,-99.9,M,,*40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.3465, causes a climb rate of 1.2042, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203731.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.3434, causes a climb rate of 1.2032, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.3402, causes a climb rate of 1.2022, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.3371, causes a climb rate of 1.2012, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1763.999158 : TerrainNav update at dvl time = 1763.999158 : _navData-> (x,y) = (4074786.97, 591171.30) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.3340, causes a climb rate of 1.2002, which is too large. Aborting! : NMEA Update: $GPGGA,203731.21,3648.8727,N,-12158.6690,W,1,03,00.5,098.2,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 1.3309, causes a climb rate of 1.1992, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203732.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.3279, causes a climb rate of 1.1982, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.3248, causes a climb rate of 1.1972, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.3218, causes a climb rate of 1.1962, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.3187, causes a climb rate of 1.1952, which is too large. Aborting! : NMEA Update: $GPGGA,203732.21,3648.8724,N,-12158.6681,W,1,03,00.5,093.2,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 1.3157, causes a climb rate of 1.1942, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203733.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.3127, causes a climb rate of 1.1932, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.3097, causes a climb rate of 1.1922, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.3066, causes a climb rate of 1.1912, which is too large. Aborting! : Estimated North Bias at time = 1764.00 : -119.63 : Estimated East Bias at time = 1764.00 : -60.19 : Estimated Depth Bias at time = 1764.00 : 0.63 : Estimated northing and easting = 4074667.34 : 591111.11 : WaypointDepth -- ERROR. Waypoint slope = 1.3036, causes a climb rate of 1.1902, which is too large. Aborting! : NMEA Update: $GPGGA,203733.21,3648.8721,N,-12158.6672,W,1,03,00.5,098.2,M,-99.9,M,,*48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.3007, causes a climb rate of 1.1892, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203734.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.2977, causes a climb rate of 1.1881, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2947, causes a climb rate of 1.1871, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.2916, causes a climb rate of 1.1861, which is too large. Aborting! : TerrainNav update at nav time = 1766.998952 : TerrainNav update at dvl time = 1766.998952 : _navData-> (x,y) = (4074785.35, 591175.48) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.2886, causes a climb rate of 1.1850, which is too large. Aborting! : NMEA Update: $GPGGA,203734.21,3648.8718,N,-12158.6662,W,1,03,00.5,094.9,M,-99.9,M,,*43 : WaypointDepth -- ERROR. Waypoint slope = 1.2857, causes a climb rate of 1.1840, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203735.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.2827, causes a climb rate of 1.1830, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2796, causes a climb rate of 1.1819, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2766, causes a climb rate of 1.1808, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2735, causes a climb rate of 1.1798, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203735.21,3648.8715,N,-12158.6652,W,1,03,00.5,098.4,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 1.2705, causes a climb rate of 1.1787, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203736.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.2675, causes a climb rate of 1.1776, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2645, causes a climb rate of 1.1766, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2614, causes a climb rate of 1.1754, which is too large. Aborting! : Estimated North Bias at time = 1767.00 : -120.25 : Estimated East Bias at time = 1767.00 : -60.46 : Estimated Depth Bias at time = 1767.00 : 0.63 : Estimated northing and easting = 4074665.10 : 591115.02 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.2584, causes a climb rate of 1.1743, which is too large. Aborting! : NMEA Update: $GPGGA,203736.21,3648.8712,N,-12158.6642,W,1,03,00.5,095.0,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 1.2553, causes a climb rate of 1.1732, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203737.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.2522, causes a climb rate of 1.1721, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.2492, causes a climb rate of 1.1710, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2461, causes a climb rate of 1.1699, which is too large. Aborting! : TerrainNav update at nav time = 1769.998747 : TerrainNav update at dvl time = 1769.998747 : _navData-> (x,y) = (4074783.76, 591180.03) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.2430, causes a climb rate of 1.1687, which is too large. Aborting! : NMEA Update: $GPGGA,203737.21,3648.8709,N,-12158.6632,W,1,03,00.5,093.9,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 1.2399, causes a climb rate of 1.1676, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203738.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.2368, causes a climb rate of 1.1664, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2338, causes a climb rate of 1.1653, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2307, causes a climb rate of 1.1641, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.2276, causes a climb rate of 1.1630, which is too large. Aborting! : NMEA Update: $GPGGA,203738.21,3648.8706,N,-12158.6621,W,1,03,00.5,098.6,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 1.2246, causes a climb rate of 1.1618, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203739.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.2216, causes a climb rate of 1.1607, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2185, causes a climb rate of 1.1595, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2155, causes a climb rate of 1.1584, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2125, causes a climb rate of 1.1572, which is too large. Aborting! : Estimated North Bias at time = 1770.00 : -120.77 : Estimated East Bias at time = 1770.00 : -60.84 : Estimated Depth Bias at time = 1770.00 : 0.63 : Estimated northing and easting = 4074662.99 : 591119.19 : NMEA Update: $GPGGA,203739.21,3648.8703,N,-12158.6610,W,1,03,00.5,093.6,M,-99.9,M,,*49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.2095, causes a climb rate of 1.1560, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203740.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.2065, causes a climb rate of 1.1549, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2035, causes a climb rate of 1.1537, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.2006, causes a climb rate of 1.1526, which is too large. Aborting! : TerrainNav update at nav time = 1772.998541 : TerrainNav update at dvl time = 1772.998541 : _navData-> (x,y) = (4074782.11, 591184.93) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.1976, causes a climb rate of 1.1514, which is too large. Aborting! : NMEA Update: $GPGGA,203740.21,3648.8700,N,-12158.6599,W,1,03,00.5,098.6,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 1.1947, causes a climb rate of 1.1503, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203741.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.1918, causes a climb rate of 1.1491, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1890, causes a climb rate of 1.1480, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.1861, causes a climb rate of 1.1468, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1832, causes a climb rate of 1.1457, which is too large. Aborting! : NMEA Update: $GPGGA,203741.21,3648.8696,N,-12158.6588,W,1,03,00.5,098.6,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 1.1805, causes a climb rate of 1.1445, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203742.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.1777, causes a climb rate of 1.1434, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1749, causes a climb rate of 1.1423, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1722, causes a climb rate of 1.1412, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1694, causes a climb rate of 1.1400, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203742.21,3648.8693,N,-12158.6577,W,1,03,00.5,093.7,M,-99.9,M,,*4e : WaypointDepth -- ERROR. Waypoint slope = 1.1668, causes a climb rate of 1.1389, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203743.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.1642, causes a climb rate of 1.1378, which is too large. Aborting! : Estimated North Bias at time = 1773.00 : -121.22 : Estimated East Bias at time = 1773.00 : -60.98 : Estimated Depth Bias at time = 1773.00 : 0.64 : Estimated northing and easting = 4074660.89 : 591123.95 : WaypointDepth -- ERROR. Waypoint slope = 1.1615, causes a climb rate of 1.1368, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.1589, causes a climb rate of 1.1357, which is too large. Aborting! : TerrainNav update at nav time = 1775.998336 : TerrainNav update at dvl time = 1775.998336 : _navData-> (x,y) = (4074780.37, 591189.71) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.1563, causes a climb rate of 1.1346, which is too large. Aborting! : NMEA Update: $GPGGA,203743.21,3648.8690,N,-12158.6567,W,1,03,00.5,098.8,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 1.1537, causes a climb rate of 1.1335, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203744.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.1513, causes a climb rate of 1.1324, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.1488, causes a climb rate of 1.1314, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1463, causes a climb rate of 1.1304, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1439, causes a climb rate of 1.1293, which is too large. Aborting! : NMEA Update: $GPGGA,203744.21,3648.8686,N,-12158.6557,W,1,03,00.5,094.1,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 1.1415, causes a climb rate of 1.1283, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203745.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1776.00 : -122.64 : Estimated East Bias at time = 1776.00 : -61.39 : Estimated Depth Bias at time = 1776.00 : 0.63 : Estimated northing and easting = 4074657.73 : 591128.33 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.1391, causes a climb rate of 1.1273, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1368, causes a climb rate of 1.1263, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1345, causes a climb rate of 1.1252, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.1322, causes a climb rate of 1.1242, which is too large. Aborting! : NMEA Update: $GPGGA,203745.21,3648.8683,N,-12158.6547,W,1,03,00.5,099.2,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 1.1298, causes a climb rate of 1.1232, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203746.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.1276, causes a climb rate of 1.1222, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1253, causes a climb rate of 1.1213, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1231, causes a climb rate of 1.1203, which is too large. Aborting! : TerrainNav update at nav time = 1778.998130 : TerrainNav update at dvl time = 1778.998130 : _navData-> (x,y) = (4074778.63, 591194.07) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.1209, causes a climb rate of 1.1193, which is too large. Aborting! : NMEA Update: $GPGGA,203746.21,3648.8680,N,-12158.6538,W,1,03,00.5,095.4,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 1.1188, causes a climb rate of 1.1184, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203747.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.1166, causes a climb rate of 1.1174, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1145, causes a climb rate of 1.1164, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1123, causes a climb rate of 1.1155, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1102, causes a climb rate of 1.1146, which is too large. Aborting! : NMEA Update: $GPGGA,203747.21,3648.8677,N,-12158.6529,W,1,03,00.5,095.6,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 1.1082, causes a climb rate of 1.1136, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203748.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.1061, causes a climb rate of 1.1127, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.1040, causes a climb rate of 1.1117, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.1019, causes a climb rate of 1.1108, which is too large. Aborting! : Estimated North Bias at time = 1779.00 : -123.08 : Estimated East Bias at time = 1779.00 : -61.27 : Estimated Depth Bias at time = 1779.00 : 0.64 : Estimated northing and easting = 4074655.55 : 591132.80 : WaypointDepth -- ERROR. Waypoint slope = 1.0999, causes a climb rate of 1.1098, which is too large. Aborting! : NMEA Update: $GPGGA,203748.21,3648.8674,N,-12158.6520,W,1,03,00.5,095.7,M,-99.9,M,,*49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.0978, causes a climb rate of 1.1089, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203749.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.0957, causes a climb rate of 1.1080, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0937, causes a climb rate of 1.1070, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0916, causes a climb rate of 1.1061, which is too large. Aborting! : TerrainNav update at nav time = 1781.997925 : TerrainNav update at dvl time = 1781.997925 : _navData-> (x,y) = (4074776.94, 591198.11) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.0896, causes a climb rate of 1.1051, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203749.21,3648.8671,N,-12158.6511,W,1,03,00.5,095.7,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 1.0876, causes a climb rate of 1.1042, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203750.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.0855, causes a climb rate of 1.1032, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0835, causes a climb rate of 1.1023, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0814, causes a climb rate of 1.1013, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0793, causes a climb rate of 1.1003, which is too large. Aborting! : NMEA Update: $GPGGA,203750.21,3648.8668,N,-12158.6502,W,1,03,00.5,095.7,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 1.0773, causes a climb rate of 1.0994, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203751.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.0752, causes a climb rate of 1.0984, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.0732, causes a climb rate of 1.0974, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0711, causes a climb rate of 1.0964, which is too large. Aborting! : Estimated North Bias at time = 1782.00 : -123.49 : Estimated East Bias at time = 1782.00 : -61.33 : Estimated Depth Bias at time = 1782.00 : 0.64 : Estimated northing and easting = 4074653.45 : 591136.78 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.0690, causes a climb rate of 1.0954, which is too large. Aborting! : NMEA Update: $GPGGA,203751.21,3648.8665,N,-12158.6492,W,1,03,00.5,095.6,M,-99.9,M,,*48 : WaypointDepth -- ERROR. Waypoint slope = 1.0669, causes a climb rate of 1.0944, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203752.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.0648, causes a climb rate of 1.0934, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0627, causes a climb rate of 1.0924, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0606, causes a climb rate of 1.0914, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1784.997719 : TerrainNav update at dvl time = 1784.997719 : _navData-> (x,y) = (4074775.24, 591202.36) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.0584, causes a climb rate of 1.0903, which is too large. Aborting! : NMEA Update: $GPGGA,203752.21,3648.8661,N,-12158.6482,W,1,03,00.5,095.5,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 1.0562, causes a climb rate of 1.0892, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203753.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.0540, causes a climb rate of 1.0882, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0519, causes a climb rate of 1.0871, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0497, causes a climb rate of 1.0861, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0476, causes a climb rate of 1.0850, which is too large. Aborting! : NMEA Update: $GPGGA,203753.21,3648.8658,N,-12158.6472,W,1,03,00.5,095.5,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 1.0454, causes a climb rate of 1.0839, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203754.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.0431, causes a climb rate of 1.0828, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0409, causes a climb rate of 1.0817, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0387, causes a climb rate of 1.0806, which is too large. Aborting! : Estimated North Bias at time = 1785.00 : -123.63 : Estimated East Bias at time = 1785.00 : -61.53 : Estimated Depth Bias at time = 1785.00 : 0.64 : Estimated northing and easting = 4074651.61 : 591140.83 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.0365, causes a climb rate of 1.0795, which is too large. Aborting! : NMEA Update: $GPGGA,203754.21,3648.8655,N,-12158.6461,W,1,03,00.5,095.3,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 1.0343, causes a climb rate of 1.0784, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203755.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.0320, causes a climb rate of 1.0772, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0298, causes a climb rate of 1.0761, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 1.0275, causes a climb rate of 1.0750, which is too large. Aborting! : TerrainNav update at nav time = 1787.997514 : TerrainNav update at dvl time = 1787.997514 : _navData-> (x,y) = (4074773.50, 591207.21) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.0253, causes a climb rate of 1.0738, which is too large. Aborting! : NMEA Update: $GPGGA,203755.21,3648.8652,N,-12158.6449,W,1,03,00.5,095.2,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 1.0231, causes a climb rate of 1.0727, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203756.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.0208, causes a climb rate of 1.0715, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0186, causes a climb rate of 1.0704, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0164, causes a climb rate of 1.0693, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0142, causes a climb rate of 1.0681, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203756.21,3648.8648,N,-12158.6438,W,1,03,00.5,095.1,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 1.0120, causes a climb rate of 1.0670, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203757.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 1.0099, causes a climb rate of 1.0659, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0078, causes a climb rate of 1.0648, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0057, causes a climb rate of 1.0636, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 1.0036, causes a climb rate of 1.0625, which is too large. Aborting! : Estimated North Bias at time = 1788.00 : -123.80 : Estimated East Bias at time = 1788.00 : -61.77 : Estimated Depth Bias at time = 1788.00 : 0.64 : Estimated northing and easting = 4074649.70 : 591145.44 : NMEA Update: $GPGGA,203757.21,3648.8645,N,-12158.6427,W,1,03,00.5,095.0,M,-99.9,M,,*44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 1.0014, causes a climb rate of 1.0614, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203758.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.9994, causes a climb rate of 1.0604, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.9975, causes a climb rate of 1.0593, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9955, causes a climb rate of 1.0582, which is too large. Aborting! : TerrainNav update at nav time = 1790.997308 : TerrainNav update at dvl time = 1790.997308 : _navData-> (x,y) = (4074771.77, 591212.25) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.9935, causes a climb rate of 1.0572, which is too large. Aborting! : NMEA Update: $GPGGA,203758.21,3648.8642,N,-12158.6416,W,1,03,00.5,095.1,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 0.9915, causes a climb rate of 1.0561, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203759.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.9896, causes a climb rate of 1.0551, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9877, causes a climb rate of 1.0541, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9859, causes a climb rate of 1.0531, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.9841, causes a climb rate of 1.0521, which is too large. Aborting! : NMEA Update: $GPGGA,203759.21,3648.8639,N,-12158.6405,W,1,03,00.5,095.4,M,-99.9,M,,*45 : WaypointDepth -- ERROR. Waypoint slope = 0.9823, causes a climb rate of 1.0512, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203800.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.9805, causes a climb rate of 1.0502, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9789, causes a climb rate of 1.0493, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9772, causes a climb rate of 1.0484, which is too large. Aborting! : Estimated North Bias at time = 1791.00 : -124.00 : Estimated East Bias at time = 1791.00 : -61.75 : Estimated Depth Bias at time = 1791.00 : 0.64 : Estimated northing and easting = 4074647.77 : 591150.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.9756, causes a climb rate of 1.0475, which is too large. Aborting! : NMEA Update: $GPGGA,203800.21,3648.8636,N,-12158.6396,W,1,03,00.5,095.7,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 0.9739, causes a climb rate of 1.0466, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203801.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.9723, causes a climb rate of 1.0457, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9708, causes a climb rate of 1.0448, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9693, causes a climb rate of 1.0440, which is too large. Aborting! : TerrainNav update at nav time = 1793.997103 : TerrainNav update at dvl time = 1793.997103 : _navData-> (x,y) = (4074770.12, 591216.57) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.9677, causes a climb rate of 1.0431, which is too large. Aborting! : NMEA Update: $GPGGA,203801.21,3648.8633,N,-12158.6387,W,1,03,00.5,095.1,M,-99.9,M,,*45 : WaypointDepth -- ERROR. Waypoint slope = 0.9662, causes a climb rate of 1.0423, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203802.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.9647, causes a climb rate of 1.0415, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9633, causes a climb rate of 1.0406, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.9618, causes a climb rate of 1.0398, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9604, causes a climb rate of 1.0390, which is too large. Aborting! : NMEA Update: $GPGGA,203802.21,3648.8630,N,-12158.6379,W,1,03,00.5,101.3,M,-99.9,M,,*4a : WaypointDepth -- ERROR. Waypoint slope = 0.9590, causes a climb rate of 1.0382, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203803.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.9576, causes a climb rate of 1.0374, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9562, causes a climb rate of 1.0366, which is too large. Aborting! : Estimated North Bias at time = 1794.00 : -123.92 : Estimated East Bias at time = 1794.00 : -61.11 : Estimated Depth Bias at time = 1794.00 : 0.64 : Estimated northing and easting = 4074646.19 : 591155.47 : WaypointDepth -- ERROR. Waypoint slope = 0.9548, causes a climb rate of 1.0359, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.9534, causes a climb rate of 1.0351, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203803.21,3648.8627,N,-12158.6371,W,1,03,00.5,097.8,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 0.9520, causes a climb rate of 1.0343, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203804.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.9507, causes a climb rate of 1.0335, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9493, causes a climb rate of 1.0327, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9479, causes a climb rate of 1.0319, which is too large. Aborting! : TerrainNav update at nav time = 1796.996897 : TerrainNav update at dvl time = 1796.996897 : _navData-> (x,y) = (4074768.47, 591220.19) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.9465, causes a climb rate of 1.0311, which is too large. Aborting! : NMEA Update: $GPGGA,203804.21,3648.8624,N,-12158.6363,W,1,03,00.5,096.8,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 0.9451, causes a climb rate of 1.0303, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203805.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.9437, causes a climb rate of 1.0295, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.9423, causes a climb rate of 1.0287, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9410, causes a climb rate of 1.0279, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9395, causes a climb rate of 1.0271, which is too large. Aborting! : NMEA Update: $GPGGA,203805.21,3648.8620,N,-12158.6355,W,1,03,00.5,097.0,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 0.9380, causes a climb rate of 1.0262, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203806.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.9366, causes a climb rate of 1.0254, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9351, causes a climb rate of 1.0245, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9337, causes a climb rate of 1.0237, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : Estimated North Bias at time = 1797.00 : -123.94 : Estimated East Bias at time = 1797.00 : -60.90 : Estimated Depth Bias at time = 1797.00 : 0.64 : Estimated northing and easting = 4074644.53 : 591159.29 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.9321, causes a climb rate of 1.0228, which is too large. Aborting! : NMEA Update: $GPGGA,203806.21,3648.8617,N,-12158.6346,W,1,03,00.5,096.9,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 0.9306, causes a climb rate of 1.0219, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203807.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.9291, causes a climb rate of 1.0210, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9275, causes a climb rate of 1.0201, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9260, causes a climb rate of 1.0192, which is too large. Aborting! : TerrainNav update at nav time = 1799.996692 : TerrainNav update at dvl time = 1799.996692 : _navData-> (x,y) = (4074766.65, 591224.05) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.9245, causes a climb rate of 1.0183, which is too large. Aborting! : NMEA Update: $GPGGA,203807.21,3648.8614,N,-12158.6337,W,1,03,00.5,096.9,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 0.9229, causes a climb rate of 1.0173, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203808.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.9213, causes a climb rate of 1.0163, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9197, causes a climb rate of 1.0154, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9181, causes a climb rate of 1.0144, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9165, causes a climb rate of 1.0135, which is too large. Aborting! : NMEA Update: $GPGGA,203808.21,3648.8610,N,-12158.6327,W,1,03,00.5,097.5,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 0.9148, causes a climb rate of 1.0125, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203809.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.9131, causes a climb rate of 1.0115, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9115, causes a climb rate of 1.0104, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.9098, causes a climb rate of 1.0094, which is too large. Aborting! : Estimated North Bias at time = 1800.00 : -123.73 : Estimated East Bias at time = 1800.00 : -61.05 : Estimated Depth Bias at time = 1800.00 : 0.64 : Estimated northing and easting = 4074642.92 : 591163.00 : WaypointDepth -- ERROR. Waypoint slope = 0.9082, causes a climb rate of 1.0084, which is too large. Aborting! : NMEA Update: $GPGGA,203809.21,3648.8606,N,-12158.6317,W,1,03,00.5,097.7,M,-99.9,M,,*46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.9065, causes a climb rate of 1.0074, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203810.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.9048, causes a climb rate of 1.0064, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9032, causes a climb rate of 1.0054, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.9015, causes a climb rate of 1.0044, which is too large. Aborting! : TerrainNav update at nav time = 1802.996486 : TerrainNav update at dvl time = 1802.996486 : _navData-> (x,y) = (4074764.68, 591228.66) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.8998, causes a climb rate of 1.0033, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203810.21,3648.8603,N,-12158.6306,W,1,03,00.5,097.4,M,-99.9,M,,*48 : WaypointDepth -- ERROR. Waypoint slope = 0.8982, causes a climb rate of 1.0023, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203811.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.8965, causes a climb rate of 1.0013, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8948, causes a climb rate of 1.0003, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8932, causes a climb rate of 0.9992, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8916, causes a climb rate of 0.9982, which is too large. Aborting! : NMEA Update: $GPGGA,203811.21,3648.8599,N,-12158.6295,W,1,03,00.5,097.3,M,-99.9,M,,*45 : WaypointDepth -- ERROR. Waypoint slope = 0.8899, causes a climb rate of 0.9972, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203812.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.8883, causes a climb rate of 0.9962, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.8867, causes a climb rate of 0.9952, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8851, causes a climb rate of 0.9942, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8835, causes a climb rate of 0.9932, which is too large. Aborting! : NMEA Update: $GPGGA,203812.21,3648.8596,N,-12158.6284,W,1,03,00.5,097.3,M,-99.9,M,,*49 : Estimated North Bias at time = 1803.00 : -123.91 : Estimated East Bias at time = 1803.00 : -61.66 : Estimated Depth Bias at time = 1803.00 : 0.64 : Estimated northing and easting = 4074640.77 : 591167.00 : WaypointDepth -- ERROR. Waypoint slope = 0.8820, causes a climb rate of 0.9922, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203813.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.8804, causes a climb rate of 0.9912, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8789, causes a climb rate of 0.9902, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8774, causes a climb rate of 0.9893, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1805.996281 : TerrainNav update at dvl time = 1805.996281 : _navData-> (x,y) = (4074762.92, 591233.53) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.8759, causes a climb rate of 0.9883, which is too large. Aborting! : NMEA Update: $GPGGA,203813.21,3648.8593,N,-12158.6273,W,1,03,00.5,097.4,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 0.8744, causes a climb rate of 0.9874, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203814.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.8730, causes a climb rate of 0.9865, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8715, causes a climb rate of 0.9855, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8701, causes a climb rate of 0.9846, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8688, causes a climb rate of 0.9838, which is too large. Aborting! : NMEA Update: $GPGGA,203814.21,3648.8590,N,-12158.6263,W,1,03,00.5,097.0,M,-99.9,M,,*43 : WaypointDepth -- ERROR. Waypoint slope = 0.8674, causes a climb rate of 0.9829, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203815.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.8661, causes a climb rate of 0.9820, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8648, causes a climb rate of 0.9812, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8635, causes a climb rate of 0.9804, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8623, causes a climb rate of 0.9796, which is too large. Aborting! : Estimated North Bias at time = 1806.00 : -124.42 : Estimated East Bias at time = 1806.00 : -61.85 : Estimated Depth Bias at time = 1806.00 : 0.63 : Estimated northing and easting = 4074638.50 : 591171.68 : NMEA Update: $GPGGA,203815.21,3648.8587,N,-12158.6254,W,1,03,00.5,097.3,M,-99.9,M,,*43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.8611, causes a climb rate of 0.9788, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203816.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.8598, causes a climb rate of 0.9780, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8586, causes a climb rate of 0.9772, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.8575, causes a climb rate of 0.9764, which is too large. Aborting! : TerrainNav update at nav time = 1808.996075 : TerrainNav update at dvl time = 1808.996075 : _navData-> (x,y) = (4074761.30, 591237.73) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.8564, causes a climb rate of 0.9757, which is too large. Aborting! : NMEA Update: $GPGGA,203816.21,3648.8584,N,-12158.6246,W,1,03,00.5,097.7,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 0.8552, causes a climb rate of 0.9749, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203817.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.8541, causes a climb rate of 0.9742, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8530, causes a climb rate of 0.9735, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8519, causes a climb rate of 0.9727, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8508, causes a climb rate of 0.9720, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203817.20,3648.8581,N,-12158.6238,W,1,03,00.5,099.0,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 0.8497, causes a climb rate of 0.9713, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203818.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.8487, causes a climb rate of 0.9706, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8476, causes a climb rate of 0.9699, which is too large. Aborting! : Estimated North Bias at time = 1809.00 : -124.69 : Estimated East Bias at time = 1809.00 : -61.47 : Estimated Depth Bias at time = 1809.00 : 0.63 : Estimated northing and easting = 4074636.61 : 591176.26 : WaypointDepth -- ERROR. Waypoint slope = 0.8466, causes a climb rate of 0.9692, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.8455, causes a climb rate of 0.9685, which is too large. Aborting! : NMEA Update: $GPGGA,203818.20,3648.8577,N,-12158.6230,W,1,03,00.5,099.2,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 0.8445, causes a climb rate of 0.9678, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203819.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.8434, causes a climb rate of 0.9671, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.8424, causes a climb rate of 0.9664, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8414, causes a climb rate of 0.9657, which is too large. Aborting! : TerrainNav update at nav time = 1811.995870 : TerrainNav update at dvl time = 1811.995870 : _navData-> (x,y) = (4074759.53, 591241.15) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.8403, causes a climb rate of 0.9650, which is too large. Aborting! : NMEA Update: $GPGGA,203819.20,3648.8574,N,-12158.6223,W,1,03,00.5,099.2,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 0.8393, causes a climb rate of 0.9643, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203820.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.8382, causes a climb rate of 0.9636, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8371, causes a climb rate of 0.9629, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8361, causes a climb rate of 0.9621, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.8350, causes a climb rate of 0.9614, which is too large. Aborting! : NMEA Update: $GPGGA,203820.20,3648.8571,N,-12158.6215,W,1,03,00.5,099.3,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 0.8339, causes a climb rate of 0.9607, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203821.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.8328, causes a climb rate of 0.9599, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8317, causes a climb rate of 0.9591, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8306, causes a climb rate of 0.9584, which is too large. Aborting! : Estimated North Bias at time = 1812.00 : -124.94 : Estimated East Bias at time = 1812.00 : -61.45 : Estimated Depth Bias at time = 1812.00 : 0.63 : Estimated northing and easting = 4074634.59 : 591179.69 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.8295, causes a climb rate of 0.9576, which is too large. Aborting! : NMEA Update: $GPGGA,203821.20,3648.8567,N,-12158.6207,W,1,03,00.5,099.2,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 0.8284, causes a climb rate of 0.9569, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203822.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.8272, causes a climb rate of 0.9561, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8260, causes a climb rate of 0.9553, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8248, causes a climb rate of 0.9545, which is too large. Aborting! : TerrainNav update at nav time = 1814.995664 : TerrainNav update at dvl time = 1814.995664 : _navData-> (x,y) = (4074757.64, 591244.78) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.8237, causes a climb rate of 0.9537, which is too large. Aborting! : NMEA Update: $GPGGA,203822.20,3648.8564,N,-12158.6198,W,1,03,00.5,099.0,M,-99.9,M,,*45 : WaypointDepth -- ERROR. Waypoint slope = 0.8225, causes a climb rate of 0.9529, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203823.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.8213, causes a climb rate of 0.9520, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8201, causes a climb rate of 0.9512, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.8188, causes a climb rate of 0.9503, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8176, causes a climb rate of 0.9495, which is too large. Aborting! : NMEA Update: $GPGGA,203823.20,3648.8560,N,-12158.6189,W,1,03,00.5,098.7,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 0.8164, causes a climb rate of 0.9486, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203824.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.8151, causes a climb rate of 0.9477, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8139, causes a climb rate of 0.9468, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8126, causes a climb rate of 0.9460, which is too large. Aborting! : Estimated North Bias at time = 1815.00 : -125.05 : Estimated East Bias at time = 1815.00 : -61.85 : Estimated Depth Bias at time = 1815.00 : 0.63 : Estimated northing and easting = 4074632.59 : 591182.93 : WaypointDepth -- ERROR. Waypoint slope = 0.8114, causes a climb rate of 0.9451, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203824.20,3648.8557,N,-12158.6179,W,1,03,00.5,098.5,M,-99.9,M,,*48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.8101, causes a climb rate of 0.9442, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203825.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.8089, causes a climb rate of 0.9433, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8076, causes a climb rate of 0.9424, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8063, causes a climb rate of 0.9415, which is too large. Aborting! : TerrainNav update at nav time = 1817.995459 : TerrainNav update at dvl time = 1817.995459 : _navData-> (x,y) = (4074755.87, 591249.18) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.8051, causes a climb rate of 0.9406, which is too large. Aborting! : NMEA Update: $GPGGA,203825.20,3648.8554,N,-12158.6169,W,1,03,00.5,098.2,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 0.8038, causes a climb rate of 0.9397, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203826.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.8025, causes a climb rate of 0.9389, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.8013, causes a climb rate of 0.9379, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.8000, causes a climb rate of 0.9370, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7987, causes a climb rate of 0.9361, which is too large. Aborting! : NMEA Update: $GPGGA,203826.20,3648.8551,N,-12158.6158,W,1,03,00.5,098.1,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 0.7975, causes a climb rate of 0.9352, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203827.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7962, causes a climb rate of 0.9343, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7950, causes a climb rate of 0.9334, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7937, causes a climb rate of 0.9325, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : Estimated North Bias at time = 1818.00 : -125.53 : Estimated East Bias at time = 1818.00 : -62.45 : Estimated Depth Bias at time = 1818.00 : 0.63 : Estimated northing and easting = 4074630.35 : 591186.73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.7925, causes a climb rate of 0.9317, which is too large. Aborting! : NMEA Update: $GPGGA,203827.20,3648.8548,N,-12158.6147,W,1,03,00.5,098.0,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 0.7913, causes a climb rate of 0.9308, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203828.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7901, causes a climb rate of 0.9299, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7889, causes a climb rate of 0.9290, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7877, causes a climb rate of 0.9282, which is too large. Aborting! : TerrainNav update at nav time = 1820.995253 : TerrainNav update at dvl time = 1820.995253 : _navData-> (x,y) = (4074754.39, 591253.94) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.7865, causes a climb rate of 0.9273, which is too large. Aborting! : NMEA Update: $GPGGA,203828.20,3648.8546,N,-12158.6137,W,1,03,00.5,097.2,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 0.7853, causes a climb rate of 0.9265, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203829.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7842, causes a climb rate of 0.9256, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7830, causes a climb rate of 0.9248, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7819, causes a climb rate of 0.9239, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7808, causes a climb rate of 0.9231, which is too large. Aborting! : NMEA Update: $GPGGA,203829.20,3648.8543,N,-12158.6126,W,1,03,00.5,097.4,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 0.7797, causes a climb rate of 0.9223, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203830.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7786, causes a climb rate of 0.9215, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7775, causes a climb rate of 0.9207, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.7764, causes a climb rate of 0.9199, which is too large. Aborting! : Estimated North Bias at time = 1821.00 : -126.12 : Estimated East Bias at time = 1821.00 : -62.65 : Estimated Depth Bias at time = 1821.00 : 0.63 : Estimated northing and easting = 4074628.27 : 591191.29 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.7754, causes a climb rate of 0.9191, which is too large. Aborting! : NMEA Update: $GPGGA,203830.20,3648.8540,N,-12158.6117,W,1,03,00.5,097.7,M,-99.9,M,,*4e : WaypointDepth -- ERROR. Waypoint slope = 0.7744, causes a climb rate of 0.9184, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203831.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7734, causes a climb rate of 0.9177, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7724, causes a climb rate of 0.9169, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7714, causes a climb rate of 0.9162, which is too large. Aborting! : TerrainNav update at nav time = 1823.995048 : TerrainNav update at dvl time = 1823.995048 : _navData-> (x,y) = (4074752.96, 591258.28) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.7704, causes a climb rate of 0.9155, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203831.20,3648.8538,N,-12158.6108,W,1,03,00.5,097.9,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 0.7695, causes a climb rate of 0.9148, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203832.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7686, causes a climb rate of 0.9141, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7677, causes a climb rate of 0.9134, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7667, causes a climb rate of 0.9127, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7658, causes a climb rate of 0.9120, which is too large. Aborting! : NMEA Update: $GPGGA,203832.20,3648.8535,N,-12158.6100,W,1,03,00.5,097.9,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 0.7650, causes a climb rate of 0.9114, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203833.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7641, causes a climb rate of 0.9107, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.7632, causes a climb rate of 0.9101, which is too large. Aborting! : Estimated North Bias at time = 1824.00 : -126.64 : Estimated East Bias at time = 1824.00 : -62.61 : Estimated Depth Bias at time = 1824.00 : 0.63 : Estimated northing and easting = 4074626.32 : 591195.67 : WaypointDepth -- ERROR. Waypoint slope = 0.7623, causes a climb rate of 0.9094, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.7615, causes a climb rate of 0.9087, which is too large. Aborting! : NMEA Update: $GPGGA,203833.20,3648.8532,N,-12158.6092,W,1,03,00.5,098.1,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 0.7606, causes a climb rate of 0.9081, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203834.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7598, causes a climb rate of 0.9074, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7589, causes a climb rate of 0.9068, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7580, causes a climb rate of 0.9061, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1826.994842 : TerrainNav update at dvl time = 1826.994842 : _navData-> (x,y) = (4074751.32, 591261.82) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.7572, causes a climb rate of 0.9055, which is too large. Aborting! : NMEA Update: $GPGGA,203834.20,3648.8529,N,-12158.6085,W,1,03,00.5,098.1,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 0.7563, causes a climb rate of 0.9048, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203835.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7554, causes a climb rate of 0.9041, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7545, causes a climb rate of 0.9035, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7536, causes a climb rate of 0.9028, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7528, causes a climb rate of 0.9021, which is too large. Aborting! : NMEA Update: $GPGGA,203835.20,3648.8525,N,-12158.6077,W,1,03,00.5,098.9,M,-99.9,M,,*4e : WaypointDepth -- ERROR. Waypoint slope = 0.7519, causes a climb rate of 0.9014, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203836.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7509, causes a climb rate of 0.9007, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7500, causes a climb rate of 0.9000, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7491, causes a climb rate of 0.8993, which is too large. Aborting! : Estimated North Bias at time = 1826.99 : -126.88 : Estimated East Bias at time = 1826.99 : -62.31 : Estimated Depth Bias at time = 1826.99 : 0.62 : Estimated northing and easting = 4074624.44 : 591199.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.7481, causes a climb rate of 0.8986, which is too large. Aborting! : NMEA Update: $GPGGA,203836.20,3648.8522,N,-12158.6068,W,1,03,00.5,098.8,M,-99.9,M,,*45 : WaypointDepth -- ERROR. Waypoint slope = 0.7472, causes a climb rate of 0.8979, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203837.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7463, causes a climb rate of 0.8971, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7453, causes a climb rate of 0.8964, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.7444, causes a climb rate of 0.8957, which is too large. Aborting! : TerrainNav update at nav time = 1829.994637 : TerrainNav update at dvl time = 1829.994637 : _navData-> (x,y) = (4074749.51, 591265.55) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.7434, causes a climb rate of 0.8949, which is too large. Aborting! : NMEA Update: $GPGGA,203837.20,3648.8519,N,-12158.6059,W,1,03,00.5,098.5,M,-99.9,M,,*43 : WaypointDepth -- ERROR. Waypoint slope = 0.7424, causes a climb rate of 0.8942, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203838.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7415, causes a climb rate of 0.8934, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7405, causes a climb rate of 0.8927, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7395, causes a climb rate of 0.8919, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7385, causes a climb rate of 0.8911, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203838.20,3648.8515,N,-12158.6050,W,1,03,00.5,099.4,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 0.7376, causes a climb rate of 0.8904, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203839.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7366, causes a climb rate of 0.8896, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7356, causes a climb rate of 0.8888, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7346, causes a climb rate of 0.8880, which is too large. Aborting! : Estimated North Bias at time = 1829.99 : -127.28 : Estimated East Bias at time = 1829.99 : -62.78 : Estimated Depth Bias at time = 1829.99 : 0.62 : Estimated northing and easting = 4074622.23 : 591202.77 : WaypointDepth -- ERROR. Waypoint slope = 0.7336, causes a climb rate of 0.8873, which is too large. Aborting! : NMEA Update: $GPGGA,203839.20,3648.8513,N,-12158.6040,W,1,03,00.5,098.7,M,-99.9,M,,*4d : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.7326, causes a climb rate of 0.8865, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203840.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7316, causes a climb rate of 0.8857, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.7307, causes a climb rate of 0.8849, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7297, causes a climb rate of 0.8842, which is too large. Aborting! : TerrainNav update at nav time = 1832.994431 : TerrainNav update at dvl time = 1832.994431 : _navData-> (x,y) = (4074747.92, 591269.86) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.7287, causes a climb rate of 0.8834, which is too large. Aborting! : NMEA Update: $GPGGA,203840.21,3648.8510,N,-12158.6030,W,1,03,00.5,098.0,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 0.7277, causes a climb rate of 0.8826, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203841.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7267, causes a climb rate of 0.8818, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7257, causes a climb rate of 0.8810, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7247, causes a climb rate of 0.8802, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.7236, causes a climb rate of 0.8794, which is too large. Aborting! : NMEA Update: $GPGGA,203841.21,3648.8507,N,-12158.6020,W,1,03,00.5,098.7,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 0.7226, causes a climb rate of 0.8785, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203842.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7216, causes a climb rate of 0.8777, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7205, causes a climb rate of 0.8769, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7195, causes a climb rate of 0.8761, which is too large. Aborting! : Estimated North Bias at time = 1832.99 : -127.93 : Estimated East Bias at time = 1832.99 : -63.18 : Estimated Depth Bias at time = 1832.99 : 0.62 : Estimated northing and easting = 4074620.00 : 591206.68 : WaypointDepth -- ERROR. Waypoint slope = 0.7185, causes a climb rate of 0.8752, which is too large. Aborting! : NMEA Update: $GPGGA,203842.21,3648.8505,N,-12158.6009,W,1,03,00.5,097.6,M,-99.9,M,,*44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.7174, causes a climb rate of 0.8744, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203843.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7164, causes a climb rate of 0.8735, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7153, causes a climb rate of 0.8727, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7143, causes a climb rate of 0.8718, which is too large. Aborting! : TerrainNav update at nav time = 1835.994226 : TerrainNav update at dvl time = 1835.994226 : _navData-> (x,y) = (4074746.52, 591274.69) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.7132, causes a climb rate of 0.8710, which is too large. Aborting! : NMEA Update: $GPGGA,203843.21,3648.8502,N,-12158.5997,W,1,03,00.5,095.9,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 0.7121, causes a climb rate of 0.8701, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203844.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7111, causes a climb rate of 0.8692, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7100, causes a climb rate of 0.8684, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.7089, causes a climb rate of 0.8675, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7079, causes a climb rate of 0.8667, which is too large. Aborting! : NMEA Update: $GPGGA,203844.21,3648.8499,N,-12158.5986,W,1,03,00.5,095.9,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 0.7068, causes a climb rate of 0.8658, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203845.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7058, causes a climb rate of 0.8650, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7048, causes a climb rate of 0.8641, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.7038, causes a climb rate of 0.8633, which is too large. Aborting! : Estimated North Bias at time = 1835.99 : -128.56 : Estimated East Bias at time = 1835.99 : -63.58 : Estimated Depth Bias at time = 1835.99 : 0.62 : Estimated northing and easting = 4074617.96 : 591211.12 : WaypointDepth -- ERROR. Waypoint slope = 0.7027, causes a climb rate of 0.8624, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203845.21,3648.8496,N,-12158.5975,W,1,03,00.5,095.8,M,-99.9,M,,*45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.7018, causes a climb rate of 0.8617, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203846.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.7009, causes a climb rate of 0.8609, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6999, causes a climb rate of 0.8601, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6990, causes a climb rate of 0.8594, which is too large. Aborting! : TerrainNav update at nav time = 1838.994020 : TerrainNav update at dvl time = 1838.994020 : _navData-> (x,y) = (4074744.84, 591279.61) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6981, causes a climb rate of 0.8586, which is too large. Aborting! : NMEA Update: $GPGGA,203846.21,3648.8492,N,-12158.5965,W,1,03,00.5,096.1,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 0.6973, causes a climb rate of 0.8580, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203847.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6965, causes a climb rate of 0.8573, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.6957, causes a climb rate of 0.8566, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6949, causes a climb rate of 0.8560, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6941, causes a climb rate of 0.8553, which is too large. Aborting! : NMEA Update: $GPGGA,203847.21,3648.8489,N,-12158.5956,W,1,03,00.5,095.8,M,-99.9,M,,*48 : WaypointDepth -- ERROR. Waypoint slope = 0.6933, causes a climb rate of 0.8546, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203848.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6926, causes a climb rate of 0.8541, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6919, causes a climb rate of 0.8535, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6913, causes a climb rate of 0.8530, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : Estimated North Bias at time = 1838.99 : -129.05 : Estimated East Bias at time = 1838.99 : -63.54 : Estimated Depth Bias at time = 1838.99 : 0.62 : Estimated northing and easting = 4074615.79 : 591216.07 : WaypointDepth -- ERROR. Waypoint slope = 0.6906, causes a climb rate of 0.8524, which is too large. Aborting! : NMEA Update: $GPGGA,203848.21,3648.8485,N,-12158.5949,W,1,03,00.5,095.9,M,-99.9,M,,*44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6899, causes a climb rate of 0.8518, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203849.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6893, causes a climb rate of 0.8513, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6887, causes a climb rate of 0.8508, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6881, causes a climb rate of 0.8503, which is too large. Aborting! : TerrainNav update at nav time = 1841.993815 : TerrainNav update at dvl time = 1841.993815 : _navData-> (x,y) = (4074742.92, 591283.01) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6876, causes a climb rate of 0.8498, which is too large. Aborting! : NMEA Update: $GPGGA,203849.21,3648.8482,N,-12158.5943,W,1,03,00.5,096.3,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 0.6870, causes a climb rate of 0.8493, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203850.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6864, causes a climb rate of 0.8488, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6858, causes a climb rate of 0.8483, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6851, causes a climb rate of 0.8478, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6845, causes a climb rate of 0.8473, which is too large. Aborting! : NMEA Update: $GPGGA,203850.21,3648.8478,N,-12158.5937,W,1,03,00.5,098.5,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 0.6839, causes a climb rate of 0.8468, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203851.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6833, causes a climb rate of 0.8463, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6827, causes a climb rate of 0.8457, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : Estimated North Bias at time = 1841.99 : -128.92 : Estimated East Bias at time = 1841.99 : -62.47 : Estimated Depth Bias at time = 1841.99 : 0.62 : Estimated northing and easting = 4074614.00 : 591220.54 : WaypointDepth -- ERROR. Waypoint slope = 0.6820, causes a climb rate of 0.8452, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6813, causes a climb rate of 0.8446, which is too large. Aborting! : NMEA Update: $GPGGA,203851.21,3648.8474,N,-12158.5930,W,1,03,00.5,098.8,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 0.6806, causes a climb rate of 0.8440, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203852.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6800, causes a climb rate of 0.8434, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6793, causes a climb rate of 0.8429, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6785, causes a climb rate of 0.8422, which is too large. Aborting! : TerrainNav update at nav time = 1844.993609 : TerrainNav update at dvl time = 1844.993609 : _navData-> (x,y) = (4074740.87, 591286.00) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6777, causes a climb rate of 0.8416, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203852.21,3648.8471,N,-12158.5922,W,1,03,00.5,099.2,M,-99.9,M,,*4e : WaypointDepth -- ERROR. Waypoint slope = 0.6770, causes a climb rate of 0.8409, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203853.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6762, causes a climb rate of 0.8402, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6754, causes a climb rate of 0.8396, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6745, causes a climb rate of 0.8388, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6737, causes a climb rate of 0.8381, which is too large. Aborting! : NMEA Update: $GPGGA,203853.21,3648.8467,N,-12158.5913,W,1,03,00.5,099.4,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 0.6728, causes a climb rate of 0.8373, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203854.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6719, causes a climb rate of 0.8366, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.6710, causes a climb rate of 0.8358, which is too large. Aborting! : Estimated North Bias at time = 1844.99 : -129.50 : Estimated East Bias at time = 1844.99 : -63.08 : Estimated Depth Bias at time = 1844.99 : 0.62 : Estimated northing and easting = 4074611.37 : 591222.92 : WaypointDepth -- ERROR. Waypoint slope = 0.6701, causes a climb rate of 0.8350, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6691, causes a climb rate of 0.8342, which is too large. Aborting! : NMEA Update: $GPGGA,203854.21,3648.8463,N,-12158.5903,W,1,03,00.5,099.6,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 0.6682, causes a climb rate of 0.8334, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203855.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6673, causes a climb rate of 0.8326, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6663, causes a climb rate of 0.8318, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6654, causes a climb rate of 0.8309, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1847.993404 : TerrainNav update at dvl time = 1847.993404 : _navData-> (x,y) = (4074738.93, 591290.56) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6644, causes a climb rate of 0.8301, which is too large. Aborting! : NMEA Update: $GPGGA,203855.21,3648.8460,N,-12158.5891,W,1,03,00.5,100.3,M,-99.9,M,,*40 : WaypointDepth -- ERROR. Waypoint slope = 0.6635, causes a climb rate of 0.8293, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203856.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6625, causes a climb rate of 0.8285, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6616, causes a climb rate of 0.8276, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6606, causes a climb rate of 0.8268, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6597, causes a climb rate of 0.8260, which is too large. Aborting! : NMEA Update: $GPGGA,203856.21,3648.8457,N,-12158.5880,W,1,03,00.5,100.3,M,-99.9,M,,*47 : WaypointDepth -- ERROR. Waypoint slope = 0.6588, causes a climb rate of 0.8252, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203857.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6578, causes a climb rate of 0.8244, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6569, causes a climb rate of 0.8236, which is too large. Aborting! : Estimated North Bias at time = 1847.99 : -130.73 : Estimated East Bias at time = 1847.99 : -64.34 : Estimated Depth Bias at time = 1847.99 : 0.63 : Estimated northing and easting = 4074608.21 : 591226.22 : WaypointDepth -- ERROR. Waypoint slope = 0.6560, causes a climb rate of 0.8227, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6551, causes a climb rate of 0.8219, which is too large. Aborting! : NMEA Update: $GPGGA,203857.21,3648.8453,N,-12158.5868,W,1,03,00.5,100.3,M,-99.9,M,,*44 : WaypointDepth -- ERROR. Waypoint slope = 0.6542, causes a climb rate of 0.8212, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203858.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6533, causes a climb rate of 0.8204, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6524, causes a climb rate of 0.8196, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.6515, causes a climb rate of 0.8188, which is too large. Aborting! : TerrainNav update at nav time = 1850.993198 : TerrainNav update at dvl time = 1850.993198 : _navData-> (x,y) = (4074737.03, 591295.66) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6506, causes a climb rate of 0.8180, which is too large. Aborting! : NMEA Update: $GPGGA,203858.21,3648.8449,N,-12158.5857,W,1,03,00.5,101.8,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 0.6498, causes a climb rate of 0.8173, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203859.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6490, causes a climb rate of 0.8166, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6481, causes a climb rate of 0.8158, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6473, causes a climb rate of 0.8151, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6465, causes a climb rate of 0.8144, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203859.21,3648.8445,N,-12158.5847,W,1,03,00.5,102.3,M,-99.9,M,,*42 : WaypointDepth -- ERROR. Waypoint slope = 0.6457, causes a climb rate of 0.8137, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203900.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6449, causes a climb rate of 0.8130, which is too large. Aborting! : Estimated North Bias at time = 1850.99 : -131.93 : Estimated East Bias at time = 1850.99 : -64.76 : Estimated Depth Bias at time = 1850.99 : 0.62 : Estimated northing and easting = 4074605.10 : 591230.90 : WaypointDepth -- ERROR. Waypoint slope = 0.6442, causes a climb rate of 0.8123, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6435, causes a climb rate of 0.8117, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6428, causes a climb rate of 0.8110, which is too large. Aborting! : NMEA Update: $GPGGA,203900.21,3648.8441,N,-12158.5838,W,1,03,00.5,103.7,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 0.6420, causes a climb rate of 0.8104, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203901.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6414, causes a climb rate of 0.8098, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.6408, causes a climb rate of 0.8093, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6402, causes a climb rate of 0.8088, which is too large. Aborting! : TerrainNav update at nav time = 1853.992993 : TerrainNav update at dvl time = 1853.992993 : _navData-> (x,y) = (4074734.84, 591299.77) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6396, causes a climb rate of 0.8082, which is too large. Aborting! : NMEA Update: $GPGGA,203901.21,3648.8437,N,-12158.5830,W,1,03,00.5,105.6,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 0.6390, causes a climb rate of 0.8077, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203902.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6384, causes a climb rate of 0.8071, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6379, causes a climb rate of 0.8067, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6374, causes a climb rate of 0.8062, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.6369, causes a climb rate of 0.8058, which is too large. Aborting! : NMEA Update: $GPGGA,203902.21,3648.8433,N,-12158.5824,W,1,03,00.5,106.3,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 0.6364, causes a climb rate of 0.8053, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203903.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1853.99 : -132.30 : Estimated East Bias at time = 1853.99 : -64.38 : Estimated Depth Bias at time = 1853.99 : 0.62 : Estimated northing and easting = 4074602.53 : 591235.39 : WaypointDepth -- ERROR. Waypoint slope = 0.6359, causes a climb rate of 0.8049, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6354, causes a climb rate of 0.8044, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6349, causes a climb rate of 0.8040, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6344, causes a climb rate of 0.8036, which is too large. Aborting! : NMEA Update: $GPGGA,203903.21,3648.8429,N,-12158.5819,W,1,03,00.5,108.8,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 0.6340, causes a climb rate of 0.8032, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203904.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6335, causes a climb rate of 0.8027, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6330, causes a climb rate of 0.8023, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6324, causes a climb rate of 0.8017, which is too large. Aborting! : TerrainNav update at nav time = 1857.002787 : TerrainNav update at dvl time = 1857.002787 : _navData-> (x,y) = (4074732.69, 591302.49) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6317, causes a climb rate of 0.8011, which is too large. Aborting! : NMEA Update: $GPGGA,203904.21,3648.8425,N,-12158.5812,W,1,03,00.5,099.6,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 0.6310, causes a climb rate of 0.8005, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203905.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6304, causes a climb rate of 0.7999, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6297, causes a climb rate of 0.7993, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.6290, causes a climb rate of 0.7987, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6283, causes a climb rate of 0.7980, which is too large. Aborting! : NMEA Update: $GPGGA,203905.21,3648.8420,N,-12158.5804,W,1,03,00.5,103.1,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 0.6276, causes a climb rate of 0.7974, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203906.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1857.00 : -132.62 : Estimated East Bias at time = 1857.00 : -64.33 : Estimated Depth Bias at time = 1857.00 : 0.62 : Estimated northing and easting = 4074600.07 : 591238.16 : WaypointDepth -- ERROR. Waypoint slope = 0.6269, causes a climb rate of 0.7967, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6262, causes a climb rate of 0.7961, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6254, causes a climb rate of 0.7954, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6246, causes a climb rate of 0.7947, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203906.21,3648.8416,N,-12158.5795,W,1,03,00.5,099.9,M,-99.9,M,,*46 : WaypointDepth -- ERROR. Waypoint slope = 0.6239, causes a climb rate of 0.7940, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203907.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6231, causes a climb rate of 0.7933, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6223, causes a climb rate of 0.7926, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6215, causes a climb rate of 0.7918, which is too large. Aborting! : TerrainNav update at nav time = 1860.002581 : TerrainNav update at dvl time = 1860.002581 : _navData-> (x,y) = (4074730.19, 591306.57) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6207, causes a climb rate of 0.7911, which is too large. Aborting! : NMEA Update: $GPGGA,203907.21,3648.8412,N,-12158.5784,W,1,03,00.5,102.7,M,-99.9,M,,*4e : WaypointDepth -- ERROR. Waypoint slope = 0.6199, causes a climb rate of 0.7903, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203908.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6191, causes a climb rate of 0.7896, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.6183, causes a climb rate of 0.7889, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6175, causes a climb rate of 0.7881, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6168, causes a climb rate of 0.7874, which is too large. Aborting! : NMEA Update: $GPGGA,203908.21,3648.8408,N,-12158.5774,W,1,03,00.5,097.0,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 0.6160, causes a climb rate of 0.7867, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203909.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1860.00 : -132.38 : Estimated East Bias at time = 1860.00 : -65.46 : Estimated Depth Bias at time = 1860.00 : 0.61 : WaypointDepth -- ERROR. Waypoint slope = 0.6152, causes a climb rate of 0.7860, which is too large. Aborting! : Estimated northing and easting = 4074597.81 : 591241.11 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6145, causes a climb rate of 0.7853, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6137, causes a climb rate of 0.7846, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.6130, causes a climb rate of 0.7839, which is too large. Aborting! : NMEA Update: $GPGGA,203909.21,3648.8404,N,-12158.5763,W,1,03,00.5,098.8,M,-99.9,M,,*43 : WaypointDepth -- ERROR. Waypoint slope = 0.6123, causes a climb rate of 0.7833, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203910.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6116, causes a climb rate of 0.7827, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6109, causes a climb rate of 0.7820, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6102, causes a climb rate of 0.7814, which is too large. Aborting! : TerrainNav update at nav time = 1863.002376 : TerrainNav update at dvl time = 1863.002376 : _navData-> (x,y) = (4074728.09, 591311.19) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6096, causes a climb rate of 0.7808, which is too large. Aborting! : NMEA Update: $GPGGA,203910.21,3648.8400,N,-12158.5754,W,1,03,00.5,098.6,M,-99.9,M,,*45 : WaypointDepth -- ERROR. Waypoint slope = 0.6090, causes a climb rate of 0.7802, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203911.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6083, causes a climb rate of 0.7796, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6077, causes a climb rate of 0.7790, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6071, causes a climb rate of 0.7784, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6065, causes a climb rate of 0.7778, which is too large. Aborting! : NMEA Update: $GPGGA,203911.21,3648.8396,N,-12158.5745,W,1,03,00.5,098.4,M,-99.9,M,,*4e : WaypointDepth -- ERROR. Waypoint slope = 0.6059, causes a climb rate of 0.7773, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203912.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1863.00 : -132.85 : Estimated East Bias at time = 1863.00 : -65.85 : Estimated Depth Bias at time = 1863.00 : 0.62 : Estimated northing and easting = 4074595.24 : 591245.33 : WaypointDepth -- ERROR. Waypoint slope = 0.6053, causes a climb rate of 0.7767, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6047, causes a climb rate of 0.7762, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.6041, causes a climb rate of 0.7756, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6036, causes a climb rate of 0.7751, which is too large. Aborting! : NMEA Update: $GPGGA,203912.21,3648.8393,N,-12158.5737,W,1,03,00.5,098.4,M,-99.9,M,,*4d : WaypointDepth -- ERROR. Waypoint slope = 0.6029, causes a climb rate of 0.7745, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203913.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.6023, causes a climb rate of 0.7739, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6017, causes a climb rate of 0.7734, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.6011, causes a climb rate of 0.7728, which is too large. Aborting! : TerrainNav update at nav time = 1866.002170 : TerrainNav update at dvl time = 1866.002170 : _navData-> (x,y) = (4074726.23, 591315.02) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.6005, causes a climb rate of 0.7722, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203913.21,3648.8390,N,-12158.5728,W,1,03,00.5,097.1,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 0.5998, causes a climb rate of 0.7716, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203914.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5992, causes a climb rate of 0.7710, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5986, causes a climb rate of 0.7704, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5980, causes a climb rate of 0.7698, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5973, causes a climb rate of 0.7692, which is too large. Aborting! : NMEA Update: $GPGGA,203914.21,3648.8386,N,-12158.5719,W,1,03,00.5,096.7,M,-99.9,M,,*4e : WaypointDepth -- ERROR. Waypoint slope = 0.5967, causes a climb rate of 0.7686, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203915.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1866.00 : -133.04 : Estimated East Bias at time = 1866.00 : -66.19 : Estimated Depth Bias at time = 1866.00 : 0.61 : Estimated northing and easting = 4074593.19 : 591248.84 : WaypointDepth -- ERROR. Waypoint slope = 0.5961, causes a climb rate of 0.7680, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5955, causes a climb rate of 0.7675, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5949, causes a climb rate of 0.7669, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5942, causes a climb rate of 0.7663, which is too large. Aborting! : NMEA Update: $GPGGA,203915.21,3648.8383,N,-12158.5710,W,1,03,00.5,097.9,M,-99.9,M,,*4c : WaypointDepth -- ERROR. Waypoint slope = 0.5936, causes a climb rate of 0.7657, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203916.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5930, causes a climb rate of 0.7651, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5924, causes a climb rate of 0.7645, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5918, causes a climb rate of 0.7639, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1869.001965 : TerrainNav update at dvl time = 1869.001965 : _navData-> (x,y) = (4074724.45, 591319.11) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5912, causes a climb rate of 0.7633, which is too large. Aborting! : NMEA Update: $GPGGA,203916.21,3648.8380,N,-12158.5701,W,1,03,00.5,098.3,M,-99.9,M,,*49 : WaypointDepth -- ERROR. Waypoint slope = 0.5905, causes a climb rate of 0.7627, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203917.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5899, causes a climb rate of 0.7621, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5893, causes a climb rate of 0.7615, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5887, causes a climb rate of 0.7609, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5880, causes a climb rate of 0.7603, which is too large. Aborting! : NMEA Update: $GPGGA,203917.21,3648.8377,N,-12158.5691,W,1,03,00.5,098.4,M,-99.9,M,,*4f : WaypointDepth -- ERROR. Waypoint slope = 0.5874, causes a climb rate of 0.7597, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203918.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1869.00 : -132.99 : Estimated East Bias at time = 1869.00 : -66.98 : Estimated Depth Bias at time = 1869.00 : 0.61 : Estimated northing and easting = 4074591.45 : 591252.13 : WaypointDepth -- ERROR. Waypoint slope = 0.5868, causes a climb rate of 0.7592, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5862, causes a climb rate of 0.7586, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5856, causes a climb rate of 0.7580, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5850, causes a climb rate of 0.7574, which is too large. Aborting! : NMEA Update: $GPGGA,203918.21,3648.8374,N,-12158.5682,W,1,03,00.5,098.4,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 0.5844, causes a climb rate of 0.7568, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203919.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5838, causes a climb rate of 0.7562, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5832, causes a climb rate of 0.7556, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : WaypointDepth -- ERROR. Waypoint slope = 0.5826, causes a climb rate of 0.7551, which is too large. Aborting! : TerrainNav update at nav time = 1872.001759 : TerrainNav update at dvl time = 1872.001759 : _navData-> (x,y) = (4074722.87, 591323.37) : _tercom->outstandingMeas() = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5820, causes a climb rate of 0.7545, which is too large. Aborting! : NMEA Update: $GPGGA,203919.21,3648.8371,N,-12158.5672,W,1,03,00.5,098.5,M,-99.9,M,,*4b : WaypointDepth -- ERROR. Waypoint slope = 0.5814, causes a climb rate of 0.7539, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203920.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth -- ERROR. Waypoint slope = 0.5808, causes a climb rate of 0.7533, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5802, causes a climb rate of 0.7528, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5796, causes a climb rate of 0.7522, which is too large. Aborting! : WaypointDepth -- ERROR. Waypoint slope = 0.5790, causes a climb rate of 0.7516, which is too large. Aborting! : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203920.21,3648.8368,N,-12158.5663,W,1,03,00.5,097.2,M,-99.9,M,,*41 : WaypointDepth -- ERROR. Waypoint slope = 0.5784, causes a climb rate of 0.7511, which is too large. Aborting! : AshtechGps::processRecord() - $GPGGA,203921.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1872.00 : -133.17 : Estimated East Bias at time = 1872.00 : -68.06 : Estimated Depth Bias at time = 1872.00 : 0.60 : Estimated northing and easting = 4074589.70 : 591255.31 : WaypointDepth -- ERROR. Waypoint slope = 0.5778, causes a climb rate of 0.7505, which is too large. Aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointDepth -- ERROR. Waypoint slope = 0.5772, causes a climb rate of 0.7499, which is too large. Aborting! : Behavior waypoint_depth - Timed out! : LayeredControl::execute() -- (t = 1915.798759) Behavior waypoint_depth:-1 has changed to state Finished : NMEA Update: $GPGGA,203921.21,3648.8366,N,-12158.5653,W,1,03,00.5,096.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203922.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1875.001554 : TerrainNav update at dvl time = 1875.001554 : _navData-> (x,y) = (4074721.39, 591327.71) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203922.21,3648.8363,N,-12158.5643,W,1,03,00.5,096.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,203923.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203923.21,3648.8360,N,-12158.5633,W,1,03,00.5,096.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203924.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1875.00 : -132.92 : Estimated East Bias at time = 1875.00 : -68.88 : Estimated Depth Bias at time = 1875.00 : 0.59 : Estimated northing and easting = 4074588.46 : 591258.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203924.21,3648.8357,N,-12158.5623,W,1,03,00.5,095.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203925.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1878.001348 : TerrainNav update at dvl time = 1878.001348 : _navData-> (x,y) = (4074719.85, 591332.24) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203925.21,3648.8355,N,-12158.5613,W,1,03,00.5,092.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203926.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203926.21,3648.8352,N,-12158.5602,W,1,03,00.5,091.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203927.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1878.00 : -133.17 : Estimated East Bias at time = 1878.00 : -68.88 : Estimated Depth Bias at time = 1878.00 : 0.58 : Estimated northing and easting = 4074586.68 : 591263.37 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203927.21,3648.8350,N,-12158.5593,W,1,03,00.5,091.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203928.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1881.001143 : TerrainNav update at dvl time = 1881.001143 : _navData-> (x,y) = (4074718.78, 591336.67) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203928.21,3648.8349,N,-12158.5583,W,1,03,00.5,101.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203929.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203929.21,3648.8347,N,-12158.5572,W,1,03,00.5,101.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,203930.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1881.00 : -133.80 : Estimated East Bias at time = 1881.00 : -68.73 : Estimated Depth Bias at time = 1881.00 : 0.59 : Estimated northing and easting = 4074584.98 : 591267.95 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203930.21,3648.8346,N,-12158.5561,W,1,03,00.5,099.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203931.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1884.000937 : TerrainNav update at dvl time = 1884.000937 : _navData-> (x,y) = (4074718.04, 591341.56) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203931.21,3648.8344,N,-12158.5550,W,1,03,00.5,092.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203932.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203932.21,3648.8341,N,-12158.5540,W,1,03,00.5,092.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,203933.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1884.00 : -134.76 : Estimated East Bias at time = 1884.00 : -69.26 : Estimated Depth Bias at time = 1884.00 : 0.59 : Estimated northing and easting = 4074583.27 : 591272.30 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203933.21,3648.8338,N,-12158.5530,W,1,03,00.5,090.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203934.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1887.000732 : TerrainNav update at dvl time = 1887.000732 : _navData-> (x,y) = (4074716.33, 591346.11) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203934.21,3648.8334,N,-12158.5520,W,1,03,00.5,088.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203935.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203935.21,3648.8331,N,-12158.5510,W,1,03,00.5,091.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203936.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1887.00 : -134.31 : Estimated East Bias at time = 1887.00 : -68.78 : Estimated Depth Bias at time = 1887.00 : 0.59 : Estimated northing and easting = 4074582.02 : 591277.33 : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203936.21,3648.8328,N,-12158.5500,W,1,03,00.5,098.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203937.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1890.000526 : TerrainNav update at dvl time = 1890.000526 : _navData-> (x,y) = (4074714.59, 591350.46) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203937.21,3648.8325,N,-12158.5491,W,1,03,00.5,088.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203938.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203938.21,3648.8322,N,-12158.5480,W,1,03,00.5,089.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203939.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1890.00 : -134.50 : Estimated East Bias at time = 1890.00 : -68.80 : Estimated Depth Bias at time = 1890.00 : 0.59 : Estimated northing and easting = 4074580.08 : 591281.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203939.21,3648.8319,N,-12158.5471,W,1,03,00.5,088.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203940.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1893.000321 : TerrainNav update at dvl time = 1893.000321 : _navData-> (x,y) = (4074713.05, 591354.81) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203940.21,3648.8316,N,-12158.5461,W,1,03,00.5,088.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203941.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203941.21,3648.8313,N,-12158.5452,W,1,03,00.5,088.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203942.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1893.00 : -134.55 : Estimated East Bias at time = 1893.00 : -68.99 : Estimated Depth Bias at time = 1893.00 : 0.59 : Estimated northing and easting = 4074578.50 : 591285.83 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203942.21,3648.8310,N,-12158.5443,W,1,03,00.5,088.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203943.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1896.000115 : TerrainNav update at dvl time = 1896.000115 : _navData-> (x,y) = (4074711.30, 591359.03) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203943.21,3648.8307,N,-12158.5433,W,1,03,00.5,088.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203944.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203944.21,3648.8304,N,-12158.5423,W,1,03,00.5,087.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203945.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1896.00 : -134.35 : Estimated East Bias at time = 1896.00 : -69.10 : Estimated Depth Bias at time = 1896.00 : 0.59 : Estimated northing and easting = 4074576.95 : 591289.92 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203945.21,3648.8301,N,-12158.5412,W,1,03,00.5,088.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203946.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1898.999910 : TerrainNav update at dvl time = 1898.999910 : _navData-> (x,y) = (4074709.75, 591363.69) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203946.21,3648.8298,N,-12158.5402,W,1,03,00.5,085.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203947.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203947.21,3648.8295,N,-12158.5391,W,1,03,00.5,084.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203948.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1899.00 : -134.37 : Estimated East Bias at time = 1899.00 : -69.77 : Estimated Depth Bias at time = 1899.00 : 0.58 : Estimated northing and easting = 4074575.38 : 591293.92 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203948.21,3648.8291,N,-12158.5381,W,1,03,00.5,083.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,203949.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1901.999704 : TerrainNav update at dvl time = 1901.999704 : _navData-> (x,y) = (4074707.97, 591368.20) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203949.21,3648.8288,N,-12158.5372,W,1,03,00.5,083.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203950.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203950.21,3648.8284,N,-12158.5363,W,1,03,00.5,082.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203951.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1902.00 : -134.18 : Estimated East Bias at time = 1902.00 : -69.49 : Estimated Depth Bias at time = 1902.00 : 0.58 : Estimated northing and easting = 4074573.79 : 591298.72 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203951.21,3648.8281,N,-12158.5355,W,1,03,00.5,084.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203952.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1904.999499 : TerrainNav update at dvl time = 1904.999499 : _navData-> (x,y) = (4074706.03, 591372.10) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203952.21,3648.8277,N,-12158.5346,W,1,03,00.5,083.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203953.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203953.21,3648.8274,N,-12158.5336,W,1,03,00.5,082.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203954.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1905.00 : -134.06 : Estimated East Bias at time = 1905.00 : -69.22 : Estimated Depth Bias at time = 1905.00 : 0.58 : Estimated northing and easting = 4074571.97 : 591302.88 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203954.21,3648.8270,N,-12158.5326,W,1,03,00.5,083.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203955.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1907.999293 : TerrainNav update at dvl time = 1907.999293 : _navData-> (x,y) = (4074704.13, 591376.50) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203955.21,3648.8267,N,-12158.5316,W,1,03,00.5,082.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203956.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203956.21,3648.8264,N,-12158.5306,W,1,03,00.5,081.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203957.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1908.00 : -134.01 : Estimated East Bias at time = 1908.00 : -69.47 : Estimated Depth Bias at time = 1908.00 : 0.58 : Estimated northing and easting = 4074570.12 : 591307.02 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203957.21,3648.8262,N,-12158.5296,W,1,03,00.5,081.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203958.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1910.999088 : TerrainNav update at dvl time = 1910.999088 : _navData-> (x,y) = (4074702.69, 591380.87) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203958.21,3648.8259,N,-12158.5287,W,1,03,00.5,081.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203959.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203959.21,3648.8255,N,-12158.5277,W,1,03,00.5,080.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204000.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1911.00 : -134.28 : Estimated East Bias at time = 1911.00 : -69.39 : Estimated Depth Bias at time = 1911.00 : 0.58 : Estimated northing and easting = 4074568.41 : 591311.48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204000.21,3648.8251,N,-12158.5267,W,1,03,00.5,080.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204001.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1913.998882 : TerrainNav update at dvl time = 1913.998882 : _navData-> (x,y) = (4074700.76, 591385.48) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204001.21,3648.8248,N,-12158.5256,W,1,03,00.5,079.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204002.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204002.21,3648.8244,N,-12158.5244,W,1,03,00.5,077.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204003.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1914.00 : -133.85 : Estimated East Bias at time = 1914.00 : -69.74 : Estimated Depth Bias at time = 1914.00 : 0.58 : Estimated northing and easting = 4074566.91 : 591315.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204003.21,3648.8241,N,-12158.5234,W,1,03,00.5,077.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204004.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1916.998677 : TerrainNav update at dvl time = 1916.998677 : _navData-> (x,y) = (4074698.93, 591390.18) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204004.21,3648.8238,N,-12158.5225,W,1,03,00.5,076.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204005.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204005.21,3648.8235,N,-12158.5216,W,1,03,00.5,081.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204006.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1917.00 : -134.71 : Estimated East Bias at time = 1917.00 : -69.00 : Estimated Depth Bias at time = 1917.00 : 0.59 : Estimated northing and easting = 4074564.21 : 591321.18 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204006.21,3648.8232,N,-12158.5207,W,1,03,00.5,082.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204007.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1919.998471 : TerrainNav update at dvl time = 1919.998471 : _navData-> (x,y) = (4074697.44, 591394.25) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204007.21,3648.8230,N,-12158.5197,W,1,03,00.5,082.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204008.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204008.21,3648.8227,N,-12158.5186,W,1,03,00.5,083.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204009.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1920.00 : -135.90 : Estimated East Bias at time = 1920.00 : -69.06 : Estimated Depth Bias at time = 1920.00 : 0.59 : Estimated northing and easting = 4074561.53 : 591325.19 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204009.21,3648.8224,N,-12158.5174,W,1,03,00.5,082.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204010.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1922.998266 : TerrainNav update at dvl time = 1922.998266 : _navData-> (x,y) = (4074696.01, 591399.51) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204010.21,3648.8222,N,-12158.5161,W,1,03,00.5,081.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204011.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=15.00 horzlMode=3 horz=1.96 speedMode=1 speed=1.50 : Behavior waypoint - Timed out! : LayeredControl::execute() -- (t = 1965.995320) Behavior waypoint:-1 has changed to state Finished : LayeredControl::execute() -- (t = 1965.995320) Behavior ascend:-1 has changed to state Active : NMEA Update: $GPGGA,204011.21,3648.8218,N,-12158.5150,W,1,03,00.5,080.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204012.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1923.00 : -136.63 : Estimated East Bias at time = 1923.00 : -70.36 : Estimated Depth Bias at time = 1923.00 : 0.58 : Estimated northing and easting = 4074559.38 : 591329.14 : 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,204012.21,3648.8215,N,-12158.5139,W,1,03,00.5,080.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204013.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1925.998060 : TerrainNav update at dvl time = 1925.998060 : _navData-> (x,y) = (4074694.25, 591404.47) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204013.21,3648.8212,N,-12158.5129,W,1,03,00.5,080.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204014.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204014.21,3648.8209,N,-12158.5120,W,1,03,00.5,075.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204015.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1926.00 : -136.87 : Estimated East Bias at time = 1926.00 : -71.09 : Estimated Depth Bias at time = 1926.00 : 0.58 : Estimated northing and easting = 4074557.38 : 591333.39 : 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,204015.21,3648.8206,N,-12158.5111,W,1,03,00.5,074.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204016.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1928.997855 : TerrainNav update at dvl time = 1928.997855 : _navData-> (x,y) = (4074692.83, 591408.47) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204016.21,3648.8204,N,-12158.5102,W,1,03,00.5,072.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204017.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204017.21,3648.8202,N,-12158.5094,W,1,03,00.5,070.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204018.00,,,,,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 : Estimated North Bias at time = 1929.00 : -137.47 : Estimated East Bias at time = 1929.00 : -70.86 : Estimated Depth Bias at time = 1929.00 : 0.58 : Estimated northing and easting = 4074555.36 : 591337.61 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204018.21,3648.8200,N,-12158.5085,W,1,03,00.5,069.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204019.00,,,,,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 = 1931.997649 : TerrainNav update at dvl time = 1931.997649 : _navData-> (x,y) = (4074691.89, 591412.30) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204019.21,3648.8199,N,-12158.5076,W,1,03,00.5,068.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204020.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204020.21,3648.8199,N,-12158.5067,W,1,03,00.5,070.6,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204021.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1932.00 : -138.57 : Estimated East Bias at time = 1932.00 : -70.76 : Estimated Depth Bias at time = 1932.00 : 0.58 : Estimated northing and easting = 4074553.32 : 591341.54 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204021.21,3648.8200,N,-12158.5057,W,1,03,00.5,072.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204022.00,,,,,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 = 1934.997444 : TerrainNav update at dvl time = 1934.997444 : _navData-> (x,y) = (4074692.33, 591416.53) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204022.21,3648.8202,N,-12158.5048,W,1,03,00.5,072.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204023.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204023.21,3648.8205,N,-12158.5038,W,1,03,00.5,072.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204024.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1935.00 : -140.44 : Estimated East Bias at time = 1935.00 : -70.84 : Estimated Depth Bias at time = 1935.00 : 0.58 : Estimated northing and easting = 4074551.90 : 591345.69 : NMEA Update: $GPGGA,204024.21,3648.8208,N,-12158.5029,W,1,03,00.5,073.8,M,-99.9,M,,*44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204025.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1937.997238 : TerrainNav update at dvl time = 1937.997238 : _navData-> (x,y) = (4074694.13, 591420.78) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204025.21,3648.8211,N,-12158.5019,W,1,03,00.5,074.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204026.00,,,,,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,204026.21,3648.8214,N,-12158.5010,W,1,03,00.5,075.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204027.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204027.21,3648.8217,N,-12158.5001,W,1,03,00.5,075.2,M,-99.9,M,,*4f : Estimated North Bias at time = 1938.00 : -142.06 : Estimated East Bias at time = 1938.00 : -70.45 : Estimated Depth Bias at time = 1938.00 : 0.59 : Estimated northing and easting = 4074552.07 : 591350.34 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204028.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 1940.997033 : TerrainNav update at dvl time = 1940.997033 : _navData-> (x,y) = (4074695.82, 591424.61) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204028.21,3648.8220,N,-12158.4994,W,1,03,00.5,076.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204029.00,,,,,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,204029.21,3648.8224,N,-12158.4987,W,1,03,00.5,076.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204030.00,,,,,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,204030.21,3648.8228,N,-12158.4982,W,1,03,00.5,076.4,M,-99.9,M,,*43 : Estimated North Bias at time = 1941.00 : -143.55 : Estimated East Bias at time = 1941.00 : -69.68 : Estimated Depth Bias at time = 1941.00 : 0.59 : Estimated northing and easting = 4074552.27 : 591354.93 : AshtechGps::processRecord() - $GPGGA,204031.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 1943.996827 : TerrainNav update at dvl time = 1943.996827 : _navData-> (x,y) = (4074698.12, 591427.19) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204031.21,3648.8233,N,-12158.4977,W,1,03,00.5,077.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204032.00,,,,,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,204032.21,3648.8238,N,-12158.4972,W,1,03,00.5,078.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204033.00,,,,,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,204033.21,3648.8244,N,-12158.4968,W,1,03,00.5,079.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204034.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1944.00 : -145.02 : Estimated East Bias at time = 1944.00 : -68.85 : Estimated Depth Bias at time = 1944.00 : 0.59 : Estimated northing and easting = 4074553.10 : 591358.34 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 1946.996622 : TerrainNav update at dvl time = 1946.996622 : _navData-> (x,y) = (4074701.17, 591429.01) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204034.21,3648.8249,N,-12158.4964,W,1,03,00.5,079.2,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204035.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204035.21,3648.8255,N,-12158.4962,W,1,03,00.5,079.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204036.00,,,,,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,204036.21,3648.8262,N,-12158.4959,W,1,03,00.5,080.0,M,-99.9,M,,*40 : Estimated North Bias at time = 1947.00 : -146.05 : Estimated East Bias at time = 1947.00 : -67.66 : Estimated Depth Bias at time = 1947.00 : 0.59 : Estimated northing and easting = 4074555.13 : 591361.35 : AshtechGps::processRecord() - $GPGGA,204037.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : TerrainNav update at nav time = 1949.996416 : TerrainNav update at dvl time = 1949.996416 : _navData-> (x,y) = (4074704.61, 591430.07) : _tercom->outstandingMeas() = 0 : LayeredControl::execute() -- (t = 1991.993539) Behavior ascend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 1991.993539) Behavior getgps:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204037.21,3648.8268,N,-12158.4957,W,1,03,00.5,080.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204038.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204038.21,3648.8275,N,-12158.4957,W,1,03,00.5,081.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204039.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204039.21,3648.8282,N,-12158.4956,W,1,03,00.5,087.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204040.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1950.00 : -147.06 : Estimated East Bias at time = 1950.00 : -66.44 : Estimated Depth Bias at time = 1950.00 : 0.59 : Estimated northing and easting = 4074557.56 : 591363.64 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1952.996211 : TerrainNav update at dvl time = 1952.996211 : _navData-> (x,y) = (4074708.33, 591430.81) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204040.21,3648.8288,N,-12158.4951,W,1,03,00.5,091.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204041.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204041.21,3648.8294,N,-12158.4948,W,1,03,00.5,085.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204042.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1953.00 : -146.61 : Estimated East Bias at time = 1953.00 : -65.91 : Estimated Depth Bias at time = 1953.00 : 0.59 : Estimated northing and easting = 4074561.72 : 591364.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204042.21,3648.8298,N,-12158.4946,W,1,03,00.5,087.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204043.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1955.996005 : TerrainNav update at dvl time = 1955.996005 : _navData-> (x,y) = (4074710.79, 591432.19) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204043.20,3648.8301,N,-12158.4942,W,1,03,00.5,082.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204044.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204044.20,3648.8305,N,-12158.4942,W,1,03,00.5,091.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204045.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1956.00 : -145.42 : Estimated East Bias at time = 1956.00 : -65.26 : Estimated Depth Bias at time = 1956.00 : 0.60 : Estimated northing and easting = 4074565.37 : 591366.93 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204045.20,3648.8310,N,-12158.4945,W,1,03,00.5,086.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204046.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1958.995800 : TerrainNav update at dvl time = 1958.995800 : _navData-> (x,y) = (4074713.42, 591431.54) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204046.20,3648.8316,N,-12158.4948,W,1,03,00.5,085.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204047.00,,,,,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,204047.20,3648.8321,N,-12158.4950,W,1,03,00.5,086.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204048.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1959.00 : -145.24 : Estimated East Bias at time = 1959.00 : -62.66 : Estimated Depth Bias at time = 1959.00 : 0.60 : Estimated northing and easting = 4074568.18 : 591368.88 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204048.20,3648.8325,N,-12158.4952,W,1,03,00.5,082.2,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204049.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1961.995594 : TerrainNav update at dvl time = 1961.995594 : _navData-> (x,y) = (4074715.88, 591430.63) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204049.20,3648.8328,N,-12158.4953,W,1,03,00.5,088.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204050.00,,,,,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,204050.20,3648.8332,N,-12158.4953,W,1,03,00.5,083.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204051.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1962.00 : -147.74 : Estimated East Bias at time = 1962.00 : -63.25 : Estimated Depth Bias at time = 1962.00 : 0.61 : Estimated northing and easting = 4074568.14 : 591367.38 : 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,204051.20,3648.8334,N,-12158.4955,W,1,03,00.5,083.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204052.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1964.995389 : TerrainNav update at dvl time = 1964.995389 : _navData-> (x,y) = (4074717.36, 591430.12) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204052.20,3648.8336,N,-12158.4957,W,1,03,00.5,086.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204053.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204053.20,3648.8339,N,-12158.4958,W,1,03,00.5,085.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204054.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1965.00 : -151.13 : Estimated East Bias at time = 1965.00 : -63.25 : Estimated Depth Bias at time = 1965.00 : 0.61 : Estimated northing and easting = 4074566.23 : 591366.87 : 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,204054.20,3648.8341,N,-12158.4959,W,1,03,00.5,085.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204055.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1967.995183 : TerrainNav update at dvl time = 1967.995183 : _navData-> (x,y) = (4074718.62, 591429.58) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204055.20,3648.8343,N,-12158.4960,W,1,03,00.5,085.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204056.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204056.20,3648.8345,N,-12158.4962,W,1,03,00.5,084.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204057.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1968.00 : -151.79 : Estimated East Bias at time = 1968.00 : -63.55 : Estimated Depth Bias at time = 1968.00 : 0.62 : Estimated northing and easting = 4074566.83 : 591366.03 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204057.20,3648.8347,N,-12158.4963,W,1,03,00.5,085.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204058.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1970.994978 : TerrainNav update at dvl time = 1970.994978 : _navData-> (x,y) = (4074719.74, 591429.19) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204058.20,3648.8349,N,-12158.4962,W,1,03,00.5,084.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204059.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204059.20,3648.8352,N,-12158.4960,W,1,03,00.5,084.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204100.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : Estimated North Bias at time = 1970.99 : -152.13 : Estimated East Bias at time = 1970.99 : -63.78 : Estimated Depth Bias at time = 1970.99 : 0.62 : Estimated northing and easting = 4074567.61 : 591365.41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204100.20,3648.8355,N,-12158.4961,W,1,03,00.5,086.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204101.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1973.994772 : TerrainNav update at dvl time = 1973.994772 : _navData-> (x,y) = (4074721.03, 591428.80) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204101.20,3648.8356,N,-12158.4966,W,1,03,00.5,085.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204102.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204102.20,3648.8357,N,-12158.4970,W,1,03,00.5,087.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204103.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1973.99 : -149.52 : Estimated East Bias at time = 1973.99 : -62.06 : Estimated Depth Bias at time = 1973.99 : 0.62 : Estimated northing and easting = 4074571.51 : 591366.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204103.20,3648.8358,N,-12158.4970,W,1,03,00.5,085.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204104.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1976.994567 : TerrainNav update at dvl time = 1976.994567 : _navData-> (x,y) = (4074721.62, 591428.05) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204104.20,3648.8359,N,-12158.4970,W,1,03,00.5,085.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204105.00,,,,,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,204105.20,3648.8361,N,-12158.4971,W,1,03,00.5,085.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204106.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1976.99 : -147.41 : Estimated East Bias at time = 1976.99 : -63.96 : Estimated Depth Bias at time = 1976.99 : 0.62 : Estimated northing and easting = 4074574.21 : 591364.09 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204106.21,3648.8362,N,-12158.4974,W,1,03,00.5,085.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204107.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1979.994361 : TerrainNav update at dvl time = 1979.994361 : _navData-> (x,y) = (4074722.28, 591427.04) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204107.21,3648.8363,N,-12158.4977,W,1,03,00.5,085.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204108.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204108.21,3648.8363,N,-12158.4978,W,1,03,00.5,087.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204109.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1979.99 : -146.87 : Estimated East Bias at time = 1979.99 : -62.74 : Estimated Depth Bias at time = 1979.99 : 0.62 : Estimated northing and easting = 4074575.41 : 591364.30 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204109.21,3648.8365,N,-12158.4978,W,1,03,00.5,087.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204110.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1982.994156 : TerrainNav update at dvl time = 1982.994156 : _navData-> (x,y) = (4074722.66, 591426.67) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204110.21,3648.8365,N,-12158.4981,W,1,03,00.5,085.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204111.00,,,,,0,04,11.6,,M,,M,,*53 : 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,204111.21,3648.8366,N,-12158.4987,W,1,03,00.5,087.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204112.00,,,,,0,04,11.6,,M,,M,,*50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1982.99 : -146.32 : Estimated East Bias at time = 1982.99 : -62.51 : Estimated Depth Bias at time = 1982.99 : 0.60 : Estimated northing and easting = 4074576.34 : 591364.16 : 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,204112.21,3648.8366,N,-12158.4991,W,1,03,00.5,087.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204113.00,,,,,0,04,11.5,,M,,M,,*52 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1985.993950 : TerrainNav update at dvl time = 1985.993950 : _navData-> (x,y) = (4074722.84, 591425.15) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204113.21,3648.8365,N,-12158.4988,W,1,03,00.5,086.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204114.00,,,,,0,04,11.5,,M,,M,,*55 : 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,204114.21,3648.8364,N,-12158.4982,W,1,03,00.5,085.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204115.00,,,,,0,04,11.5,,M,,M,,*54 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1985.99 : -145.59 : Estimated East Bias at time = 1985.99 : -64.69 : Estimated Depth Bias at time = 1985.99 : 0.61 : Estimated northing and easting = 4074577.25 : 591360.46 : 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,204115.21,3648.8363,N,-12158.4980,W,1,03,00.5,085.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204116.00,3648.73102,N,12158.54954,W,1,05,1.9,11.44,M,-32.92,M,,*6C : GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed : TerrainNav update at nav time = 1988.993745 : TerrainNav update at dvl time = 1988.993745 : _navData-> (x,y) = (4074526.90, 591351.96) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204116.21,3648.7310,N,-12158.5496,W,1,03,00.5,085.7,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204117.00,3648.73116,N,12158.54932,W,1,06,1.2,7.23,M,-32.92,M,,*56 : GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed : NMEA Update: $GPGGA,204117.21,3648.7312,N,-12158.5494,W,1,03,00.5,084.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204118.00,3648.73082,N,12158.55013,W,1,06,1.2,9.61,M,-32.92,M,,*56 : GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed : Estimated North Bias at time = 1988.99 : 48.59 : Estimated East Bias at time = 1988.99 : 11.07 : Estimated Depth Bias at time = 1988.99 : 0.61 : Estimated northing and easting = 4074575.49 : 591363.02 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204118.21,3648.7308,N,-12158.5502,W,1,03,00.5,086.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204119.00,3648.73079,N,12158.55037,W,1,06,1.2,9.20,M,-32.92,M,,*50 : GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed : TerrainNav update at nav time = 1991.993539 : TerrainNav update at dvl time = 1991.993539 : _navData-> (x,y) = (4074526.40, 591350.69) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204119.21,3648.7308,N,-12158.5504,W,1,03,00.5,084.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204120.00,3648.73105,N,12158.55058,W,1,06,1.2,9.10,M,-32.92,M,,*5A : GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed : NMEA Update: $GPGGA,204120.21,3648.7311,N,-12158.5506,W,1,03,00.5,086.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204121.00,3648.73128,N,12158.54999,W,1,06,1.2,6.42,M,-32.92,M,,*59 : GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : Estimated North Bias at time = 1991.99 : 49.03 : Estimated East Bias at time = 1991.99 : 10.22 : Estimated Depth Bias at time = 1991.99 : 0.61 : Estimated northing and easting = 4074575.43 : 591360.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204121.21,3648.7313,N,-12158.5500,W,1,03,00.5,087.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204122.00,3648.73109,N,12158.55005,W,1,07,1.1,7.11,M,-32.92,M,,*51 : GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1994.993334 : TerrainNav update at dvl time = 1994.993334 : _navData-> (x,y) = (4074527.00, 591351.31) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204122.21,3648.7311,N,-12158.5500,W,1,03,00.5,081.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204123.00,3648.73113,N,12158.54881,W,1,07,1.1,-2.51,M,-32.92,M,,*72 : GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed : NMEA Update: $GPGGA,204123.21,3648.7311,N,-12158.5488,W,1,03,00.5,087.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204124.00,3648.73135,N,12158.54845,W,1,07,1.1,-3.39,M,-32.92,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed : Estimated North Bias at time = 1994.99 : 50.29 : Estimated East Bias at time = 1994.99 : 8.56 : Estimated Depth Bias at time = 1994.99 : 0.61 : Estimated northing and easting = 4074577.29 : 591359.86 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204124.21,3648.7313,N,-12158.5485,W,1,03,00.5,082.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204125.00,3648.73100,N,12158.54830,W,1,07,1.1,-3.59,M,-32.92,M,,*75 : GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed : LayeredControl::execute() -- (t = 2039.400291) 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 = 2039.600278) Behavior ascend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 2039.600278) Behavior setpoint:-1 has changed to state Active : LayeredControl::execute() -- (t = 2039.600278) 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 : TerrainNav update at nav time = 1997.993128 : TerrainNav update at dvl time = 1997.993128 : _navData-> (x,y) = (4074526.79, 591353.89) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204125.21,3648.7310,N,-12158.5483,W,1,03,00.5,089.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204126.00,3648.73100,N,12158.54788,W,1,07,1.1,-3.36,M,-32.92,M,,*73 : NMEA Update: $GPGGA,204126.21,3648.7310,N,-12158.5478,W,1,03,00.5,090.6,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204127.00,3648.73091,N,12158.54770,W,1,07,1.1,-3.40,M,-32.92,M,,*7D : Estimated North Bias at time = 1997.99 : 49.48 : Estimated East Bias at time = 1997.99 : 9.12 : Estimated Depth Bias at time = 1997.99 : 0.61 : Estimated northing and easting = 4074576.27 : 591363.01 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204127.21,3648.7309,N,-12158.5476,W,1,03,00.5,090.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204128.00,3648.73088,N,12158.54789,W,1,07,1.1,-6.84,M,-32.92,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2000.992923 : TerrainNav update at dvl time = 2000.992923 : _navData-> (x,y) = (4074526.63, 591354.46) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204128.21,3648.7309,N,-12158.5479,W,1,03,00.5,088.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204129.00,3648.73106,N,12158.54841,W,1,07,1.1,-5.98,M,-32.92,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204129.21,3648.7311,N,-12158.5485,W,1,03,00.5,086.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204130.00,3648.73101,N,12158.54911,W,1,07,1.1,-7.01,M,-32.92,M,,*7B : Estimated North Bias at time = 2000.99 : 50.22 : Estimated East Bias at time = 2000.99 : 8.45 : Estimated Depth Bias at time = 2000.99 : 0.60 : Estimated northing and easting = 4074576.86 : 591362.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204130.21,3648.7310,N,-12158.5492,W,1,03,00.5,086.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204131.00,3648.73028,N,12158.54989,W,1,07,1.1,-12.13,M,-32.92,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2004.002717 : TerrainNav update at dvl time = 2004.002717 : _navData-> (x,y) = (4074525.53, 591351.38) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204131.21,3648.7303,N,-12158.5500,W,1,03,00.5,086.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204132.00,3648.73032,N,12158.55020,W,1,07,1.1,2.37,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,204132.21,3648.7303,N,-12158.5502,W,1,03,00.5,091.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204133.00,3648.72995,N,12158.54976,W,1,05,1.6,-12.87,M,-32.92,M,,*42 : Estimated North Bias at time = 2004.00 : 49.89 : Estimated East Bias at time = 2004.00 : 8.67 : Estimated Depth Bias at time = 2004.00 : 0.60 : Estimated northing and easting = 4074575.42 : 591360.05 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204133.21,3648.7299,N,-12158.5498,W,1,03,00.5,086.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204134.00,3648.73083,N,12158.54903,W,1,06,1.2,-7.63,M,-32.92,M,,*71 : TerrainNav update at nav time = 2007.002511 : TerrainNav update at dvl time = 2007.002511 : _navData-> (x,y) = (4074526.48, 591352.83) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204134.21,3648.7308,N,-12158.5490,W,1,03,00.5,092.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204135.00,3648.73118,N,12158.54823,W,1,06,1.2,-5.70,M,-32.92,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204135.21,3648.7311,N,-12158.5481,W,1,03,00.5,085.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204136.00,3648.73082,N,12158.54842,W,1,06,1.2,-4.11,M,-32.92,M,,*70 : Estimated North Bias at time = 2007.00 : 50.97 : Estimated East Bias at time = 2007.00 : 7.24 : Estimated Depth Bias at time = 2007.00 : 0.59 : Estimated northing and easting = 4074577.45 : 591360.07 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204136.21,3648.7308,N,-12158.5484,W,1,03,00.5,085.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204137.00,3648.73082,N,12158.54849,W,1,06,1.2,-4.84,M,-32.92,M,,*76 : TerrainNav update at nav time = 2010.002306 : TerrainNav update at dvl time = 2010.002306 : _navData-> (x,y) = (4074526.51, 591353.55) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204137.21,3648.7308,N,-12158.5485,W,1,03,00.5,089.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204138.00,3648.73071,N,12158.54872,W,1,06,1.2,-5.00,M,-32.92,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204138.21,3648.7307,N,-12158.5488,W,1,03,00.5,087.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204139.00,3648.73049,N,12158.54898,W,1,06,1.2,-4.74,M,-32.92,M,,*7C : Estimated North Bias at time = 2010.00 : 50.70 : Estimated East Bias at time = 2010.00 : 8.84 : Estimated Depth Bias at time = 2010.00 : 0.55 : Estimated northing and easting = 4074577.20 : 591362.39 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204139.21,3648.7305,N,-12158.5490,W,1,03,00.5,090.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204140.00,3648.73031,N,12158.54908,W,1,06,1.2,-6.95,M,-32.92,M,,*78 : TerrainNav update at nav time = 2013.002100 : TerrainNav update at dvl time = 2013.002100 : _navData-> (x,y) = (4074525.56, 591352.69) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204140.21,3648.7303,N,-12158.5491,W,1,03,00.5,086.9,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,204141.00,3648.73034,N,12158.54895,W,1,06,1.2,-6.39,M,-32.92,M,,*7F : NMEA Update: $GPGGA,204141.21,3648.7303,N,-12158.5489,W,1,03,00.5,086.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204142.00,3648.73053,N,12158.54882,W,1,06,1.2,-6.37,M,-32.92,M,,*75 : Estimated North Bias at time = 2013.00 : 50.77 : Estimated East Bias at time = 2013.00 : 8.58 : Estimated Depth Bias at time = 2013.00 : 0.55 : Estimated northing and easting = 4074576.34 : 591361.27 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204142.21,3648.7305,N,-12158.5488,W,1,03,00.5,085.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204143.00,3648.73014,N,12158.54893,W,1,06,1.2,-7.72,M,-32.92,M,,*77 : TerrainNav update at nav time = 2016.001894 : TerrainNav update at dvl time = 2016.001894 : _navData-> (x,y) = (4074525.19, 591352.92) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204143.21,3648.7301,N,-12158.5490,W,1,03,00.5,087.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204144.00,3648.73045,N,12158.54899,W,1,06,1.2,-6.30,M,-32.92,M,,*79 : NMEA Update: $GPGGA,204144.21,3648.7305,N,-12158.5490,W,1,03,00.5,087.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204145.00,3648.72897,N,12158.55018,W,1,05,1.6,-15.75,M,-32.92,M,,*4A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 2016.00 : 50.23 : Estimated East Bias at time = 2016.00 : 9.30 : Estimated Depth Bias at time = 2016.00 : 0.52 : Estimated northing and easting = 4074575.42 : 591362.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204145.21,3648.7290,N,-12158.5503,W,1,03,00.5,085.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204146.00,3648.73032,N,12158.54976,W,1,06,1.2,-4.87,M,-32.92,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2019.001689 : TerrainNav update at dvl time = 2019.001689 : _navData-> (x,y) = (4074525.60, 591351.68) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204146.21,3648.7303,N,-12158.5498,W,1,03,00.5,091.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204147.00,3648.73029,N,12158.54936,W,1,06,1.2,-3.11,M,-32.92,M,,*72 : NMEA Update: $GPGGA,204147.21,3648.7303,N,-12158.5493,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,204148.00,3648.73033,N,12158.54898,W,1,06,1.2,-4.05,M,-32.92,M,,*71 : Estimated North Bias at time = 2019.00 : 50.81 : Estimated East Bias at time = 2019.00 : 8.33 : Estimated Depth Bias at time = 2019.00 : 0.52 : Estimated northing and easting = 4074576.41 : 591360.01 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204148.21,3648.7303,N,-12158.5489,W,1,03,00.5,088.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204149.00,3648.73018,N,12158.54883,W,1,06,1.2,-4.49,M,-32.92,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2022.001483 : TerrainNav update at dvl time = 2022.001483 : _navData-> (x,y) = (4074525.30, 591353.11) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204149.21,3648.7302,N,-12158.5488,W,1,03,00.5,088.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204150.00,3648.73007,N,12158.54887,W,1,06,1.2,-5.20,M,-32.92,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204150.21,3648.7301,N,-12158.5489,W,1,03,00.5,088.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204151.00,3648.72986,N,12158.54896,W,1,06,1.2,-4.97,M,-32.92,M,,*7A : Estimated North Bias at time = 2022.00 : 50.42 : Estimated East Bias at time = 2022.00 : 8.92 : Estimated Depth Bias at time = 2022.00 : 0.52 : Estimated northing and easting = 4074575.71 : 591362.03 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204151.21,3648.7298,N,-12158.5490,W,1,03,00.5,086.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204152.00,3648.72972,N,12158.54913,W,1,06,1.2,-5.33,M,-32.92,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2025.001278 : TerrainNav update at dvl time = 2025.001278 : _navData-> (x,y) = (4074524.40, 591352.59) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204152.21,3648.7297,N,-12158.5492,W,1,03,00.5,085.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204153.00,3648.72971,N,12158.54945,W,1,06,1.2,-4.85,M,-32.92,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204153.21,3648.7297,N,-12158.5495,W,1,03,00.5,086.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204154.00,3648.72985,N,12158.54944,W,1,06,1.2,-4.67,M,-32.92,M,,*7D : Estimated North Bias at time = 2025.00 : 50.43 : Estimated East Bias at time = 2025.00 : 8.93 : Estimated Depth Bias at time = 2025.00 : 0.51 : Estimated northing and easting = 4074574.83 : 591361.52 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204154.21,3648.7299,N,-12158.5495,W,1,03,00.5,094.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204155.00,3648.72989,N,12158.54933,W,1,06,1.2,-4.84,M,-32.92,M,,*7D : TerrainNav update at nav time = 2028.001072 : TerrainNav update at dvl time = 2028.001072 : _navData-> (x,y) = (4074524.84, 591352.35) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204155.21,3648.7299,N,-12158.5493,W,1,03,00.5,087.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204156.00,3648.72979,N,12158.54945,W,1,06,1.2,-5.40,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,204156.21,3648.7298,N,-12158.5495,W,1,03,00.5,087.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204157.00,3648.72966,N,12158.54973,W,1,06,1.2,-5.55,M,-32.92,M,,*77 : Estimated North Bias at time = 2028.00 : 51.28 : Estimated East Bias at time = 2028.00 : 7.54 : Estimated Depth Bias at time = 2028.00 : 0.52 : Estimated northing and easting = 4074576.12 : 591359.88 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204157.21,3648.7296,N,-12158.5498,W,1,03,00.5,086.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204158.00,3648.72968,N,12158.54977,W,1,06,1.2,-3.94,M,-32.92,M,,*79 : TerrainNav update at nav time = 2031.000867 : TerrainNav update at dvl time = 2031.000867 : _navData-> (x,y) = (4074524.36, 591351.61) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204158.21,3648.7297,N,-12158.5497,W,1,03,00.5,086.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204159.00,3648.72974,N,12158.54955,W,1,06,1.2,-4.01,M,-32.92,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204159.21,3648.7297,N,-12158.5495,W,1,03,00.5,088.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204200.00,3648.72966,N,12158.54946,W,1,06,1.2,-3.91,M,-32.92,M,,*7E : Estimated North Bias at time = 2031.00 : 52.44 : Estimated East Bias at time = 2031.00 : 5.63 : Estimated Depth Bias at time = 2031.00 : 0.53 : Estimated northing and easting = 4074576.80 : 591357.24 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204200.21,3648.7296,N,-12158.5494,W,1,03,00.5,085.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204201.00,3648.72963,N,12158.54930,W,1,06,1.2,-3.81,M,-32.92,M,,*7A : TerrainNav update at nav time = 2034.000661 : TerrainNav update at dvl time = 2034.000661 : _navData-> (x,y) = (4074524.25, 591352.46) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204201.21,3648.7296,N,-12158.5493,W,1,03,00.5,087.4,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204202.00,3648.72973,N,12158.54931,W,1,06,1.2,-4.21,M,-32.92,M,,*74 : NMEA Update: $GPGGA,204202.21,3648.7297,N,-12158.5493,W,1,03,00.5,084.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204203.00,3648.72951,N,12158.54912,W,1,06,1.2,-4.23,M,-32.92,M,,*76 : Estimated North Bias at time = 2034.00 : 52.59 : Estimated East Bias at time = 2034.00 : 5.41 : Estimated Depth Bias at time = 2034.00 : 0.53 : Estimated northing and easting = 4074576.84 : 591357.87 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204203.21,3648.7295,N,-12158.5491,W,1,03,00.5,088.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204204.00,3648.72957,N,12158.54871,W,1,07,1.1,-2.73,M,-32.92,M,,*72 : TerrainNav update at nav time = 2037.000456 : TerrainNav update at dvl time = 2037.000456 : _navData-> (x,y) = (4074524.14, 591353.34) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204204.21,3648.7295,N,-12158.5487,W,1,03,00.5,088.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204205.00,3648.72946,N,12158.54838,W,1,07,1.1,-3.16,M,-32.92,M,,*7C : NMEA Update: $GPGGA,204205.21,3648.7294,N,-12158.5484,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,204206.00,3648.72925,N,12158.54876,W,1,07,1.1,-4.63,M,-32.92,M,,*75 : Estimated North Bias at time = 2037.00 : 53.20 : Estimated East Bias at time = 2037.00 : 4.41 : Estimated Depth Bias at time = 2037.00 : 0.52 : Estimated northing and easting = 4074577.35 : 591357.75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204206.21,3648.7292,N,-12158.5489,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204207.00,3648.72891,N,12158.54940,W,1,07,1.1,-4.80,M,-32.92,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2040.000250 : TerrainNav update at dvl time = 2040.000250 : _navData-> (x,y) = (4074522.82, 591352.09) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204207.21,3648.7289,N,-12158.5495,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204208.00,3648.72896,N,12158.54978,W,1,07,1.1,-4.40,M,-32.92,M,,*7C : NMEA Update: $GPGGA,204208.21,3648.7290,N,-12158.5497,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204209.00,3648.72906,N,12158.54950,W,1,07,1.1,-3.34,M,-32.92,M,,*7B : Estimated North Bias at time = 2040.00 : 50.55 : Estimated East Bias at time = 2040.00 : 8.69 : Estimated Depth Bias at time = 2040.00 : 0.52 : Estimated northing and easting = 4074573.38 : 591360.78 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204209.21,3648.7291,N,-12158.5494,W,1,03,00.5,085.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204210.00,3648.72931,N,12158.54897,W,1,07,1.1,-2.29,M,-32.92,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2043.000045 : TerrainNav update at dvl time = 2043.000045 : _navData-> (x,y) = (4074523.74, 591353.06) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204210.21,3648.7293,N,-12158.5489,W,1,03,00.5,085.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204211.00,3648.72935,N,12158.54906,W,1,07,1.1,-2.72,M,-32.92,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204211.21,3648.7294,N,-12158.5490,W,1,03,00.5,085.1,M,-99.9,M,,*4c : Estimated North Bias at time = 2043.00 : 51.28 : Estimated East Bias at time = 2043.00 : 7.48 : Estimated Depth Bias at time = 2043.00 : 0.52 : Estimated northing and easting = 4074575.01 : 591360.54 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204212.00,3648.72912,N,12158.54920,W,1,07,1.1,-3.05,M,-32.92,M,,*71 : NMEA Update: $GPGGA,204212.21,3648.7291,N,-12158.5492,W,1,03,00.5,086.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204213.00,3648.72912,N,12158.54913,W,1,07,1.1,-2.89,M,-32.92,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2045.999839 : TerrainNav update at dvl time = 2045.999839 : _navData-> (x,y) = (4074523.26, 591352.66) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204213.21,3648.7291,N,-12158.5491,W,1,03,00.5,091.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204214.00,3648.72903,N,12158.54922,W,1,07,1.1,-2.61,M,-32.92,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204214.21,3648.7290,N,-12158.5492,W,1,03,00.5,087.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204215.00,3648.72899,N,12158.54942,W,1,07,1.1,-2.83,M,-32.92,M,,*7F : Estimated North Bias at time = 2046.00 : 52.38 : Estimated East Bias at time = 2046.00 : 5.73 : Estimated Depth Bias at time = 2046.00 : 0.52 : Estimated northing and easting = 4074575.64 : 591358.39 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204215.21,3648.7290,N,-12158.5494,W,1,03,00.5,086.9,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204216.00,3648.72897,N,12158.54940,W,1,07,1.1,-2.08,M,-32.92,M,,*73 : TerrainNav update at nav time = 2048.999634 : TerrainNav update at dvl time = 2048.999634 : _navData-> (x,y) = (4074523.10, 591352.26) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204216.21,3648.7290,N,-12158.5494,W,1,03,00.5,090.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204217.00,3648.72874,N,12158.54905,W,1,07,1.1,-1.64,M,-32.92,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204217.21,3648.7287,N,-12158.5490,W,1,03,00.5,089.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204218.00,3648.72845,N,12158.54855,W,1,07,1.1,-1.76,M,-32.92,M,,*7D : Estimated North Bias at time = 2049.00 : 53.09 : Estimated East Bias at time = 2049.00 : 4.54 : Estimated Depth Bias at time = 2049.00 : 0.53 : Estimated northing and easting = 4074576.20 : 591356.80 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204218.21,3648.7284,N,-12158.5484,W,1,03,00.5,094.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204219.00,3648.72848,N,12158.54797,W,1,07,1.1,-1.77,M,-32.92,M,,*71 : TerrainNav update at nav time = 2051.999429 : TerrainNav update at dvl time = 2051.999429 : _navData-> (x,y) = (4074522.12, 591354.58) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204219.21,3648.7284,N,-12158.5479,W,1,03,00.5,087.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204220.00,3648.72842,N,12158.54775,W,1,07,1.1,-3.26,M,-32.92,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204220.21,3648.7284,N,-12158.5477,W,1,03,00.5,085.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204221.00,3648.72819,N,12158.54832,W,1,07,1.1,-5.32,M,-32.92,M,,*7B : Estimated North Bias at time = 2052.00 : 53.61 : Estimated East Bias at time = 2052.00 : 3.71 : Estimated Depth Bias at time = 2052.00 : 0.53 : Estimated northing and easting = 4074575.72 : 591358.30 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204221.21,3648.7281,N,-12158.5484,W,1,03,00.5,086.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204222.00,3648.72824,N,12158.54890,W,1,07,1.1,-4.74,M,-32.92,M,,*7D : TerrainNav update at nav time = 2054.999223 : TerrainNav update at dvl time = 2054.999223 : _navData-> (x,y) = (4074521.76, 591352.77) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204222.21,3648.7282,N,-12158.5491,W,1,03,00.5,086.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204223.00,3648.72843,N,12158.54921,W,1,07,1.1,-4.03,M,-32.92,M,,*76 : NMEA Update: $GPGGA,204223.21,3648.7285,N,-12158.5493,W,1,03,00.5,087.7,M,-99.9,M,,*4a : Estimated North Bias at time = 2055.00 : 53.36 : Estimated East Bias at time = 2055.00 : 4.13 : Estimated Depth Bias at time = 2055.00 : 0.53 : Estimated northing and easting = 4074575.12 : 591356.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204224.00,3648.72852,N,12158.54926,W,1,07,1.1,-3.14,M,-32.92,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204224.21,3648.7286,N,-12158.5493,W,1,03,00.5,089.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204225.00,3648.72840,N,12158.54918,W,1,07,1.1,-2.98,M,-32.92,M,,*7D : TerrainNav update at nav time = 2057.999017 : TerrainNav update at dvl time = 2057.999017 : _navData-> (x,y) = (4074522.05, 591352.65) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204225.21,3648.7284,N,-12158.5492,W,1,03,00.5,086.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204226.00,3648.72828,N,12158.54917,W,1,07,1.1,-3.16,M,-32.92,M,,*78 : NMEA Update: $GPGGA,204226.21,3648.7282,N,-12158.5492,W,1,03,00.5,089.6,M,-99.9,M,,*46 : Estimated North Bias at time = 2058.00 : 53.13 : Estimated East Bias at time = 2058.00 : 4.49 : Estimated Depth Bias at time = 2058.00 : 0.53 : Estimated northing and easting = 4074575.18 : 591357.14 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204227.00,3648.72802,N,12158.54932,W,1,07,1.1,-2.92,M,-32.92,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204227.21,3648.7280,N,-12158.5494,W,1,03,00.5,087.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204228.00,3648.72802,N,12158.54932,W,1,07,1.1,-2.24,M,-32.92,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2060.998812 : TerrainNav update at dvl time = 2060.998812 : _navData-> (x,y) = (4074521.34, 591352.37) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204228.21,3648.7280,N,-12158.5494,W,1,03,00.5,093.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204229.00,3648.72787,N,12158.54908,W,1,07,1.1,-2.02,M,-32.92,M,,*77 : NMEA Update: $GPGGA,204229.21,3648.7279,N,-12158.5490,W,1,03,00.5,089.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 2061.00 : 53.91 : Estimated East Bias at time = 2061.00 : 3.16 : Estimated Depth Bias at time = 2061.00 : 0.54 : Estimated northing and easting = 4074575.25 : 591355.53 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204230.00,3648.72764,N,12158.54881,W,1,07,1.1,-2.04,M,-32.92,M,,*74 : NMEA Update: $GPGGA,204230.21,3648.7276,N,-12158.5487,W,1,03,00.5,091.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204231.00,3648.72765,N,12158.54867,W,1,07,1.1,-2.11,M,-32.92,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2063.998606 : TerrainNav update at dvl time = 2063.998606 : _navData-> (x,y) = (4074520.63, 591353.43) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204231.21,3648.7276,N,-12158.5486,W,1,03,00.5,086.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204232.00,3648.72762,N,12158.54855,W,1,07,1.1,-2.25,M,-32.92,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204232.21,3648.7277,N,-12158.5485,W,1,03,00.5,086.6,M,-99.9,M,,*40 : Estimated North Bias at time = 2064.00 : 53.88 : Estimated East Bias at time = 2064.00 : 3.20 : Estimated Depth Bias at time = 2064.00 : 0.54 : Estimated northing and easting = 4074574.52 : 591356.63 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204233.00,3648.72771,N,12158.54865,W,1,07,1.1,-2.91,M,-32.92,M,,*75 : NMEA Update: $GPGGA,204233.21,3648.7277,N,-12158.5487,W,1,03,00.5,091.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204234.00,3648.72761,N,12158.54857,W,1,07,1.1,-2.92,M,-32.92,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2066.998401 : TerrainNav update at dvl time = 2066.998401 : _navData-> (x,y) = (4074520.55, 591353.56) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204234.21,3648.7276,N,-12158.5486,W,1,03,00.5,087.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204235.00,3648.72758,N,12158.54848,W,1,07,1.1,-3.24,M,-32.92,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204235.21,3648.7276,N,-12158.5485,W,1,03,00.5,089.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204236.00,3648.72749,N,12158.54855,W,1,07,1.1,-3.61,M,-32.92,M,,*76 : Estimated North Bias at time = 2067.00 : 53.87 : Estimated East Bias at time = 2067.00 : 3.21 : Estimated Depth Bias at time = 2067.00 : 0.54 : Estimated northing and easting = 4074574.42 : 591356.77 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204236.21,3648.7274,N,-12158.5486,W,1,03,00.5,088.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204237.00,3648.72826,N,12158.54830,W,1,08,1.0,-6.69,M,-32.92,M,,*71 : TerrainNav update at nav time = 2069.998195 : TerrainNav update at dvl time = 2069.998195 : _navData-> (x,y) = (4074521.75, 591353.83) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204237.21,3648.7282,N,-12158.5484,W,1,03,00.5,086.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204238.00,3648.72817,N,12158.54873,W,1,08,1.0,-6.65,M,-32.92,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204238.21,3648.7282,N,-12158.5488,W,1,03,00.5,085.4,M,-99.9,M,,*4c : Estimated North Bias at time = 2070.00 : 53.90 : Estimated East Bias at time = 2070.00 : 3.17 : Estimated Depth Bias at time = 2070.00 : 0.54 : Estimated northing and easting = 4074575.64 : 591357.00 : AshtechGps::processRecord() - $GPGGA,204239.00,3648.72818,N,12158.54937,W,1,08,1.0,-6.77,M,-32.92,M,,*7B : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204239.21,3648.7282,N,-12158.5495,W,1,03,00.5,088.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204240.00,3648.72800,N,12158.54959,W,1,08,1.0,-5.77,M,-32.92,M,,*77 : TerrainNav update at nav time = 2072.997990 : TerrainNav update at dvl time = 2072.997990 : _navData-> (x,y) = (4074521.23, 591351.96) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204240.21,3648.7280,N,-12158.5496,W,1,03,00.5,089.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204241.00,3648.72789,N,12158.54934,W,1,08,1.0,-4.70,M,-32.92,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204241.21,3648.7279,N,-12158.5493,W,1,03,00.5,091.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204242.00,3648.73029,N,12158.54795,W,1,08,1.0,-0.36,M,-32.92,M,,*79 : Estimated North Bias at time = 2073.00 : 53.92 : Estimated East Bias at time = 2073.00 : 3.12 : Estimated Depth Bias at time = 2073.00 : 0.54 : Estimated northing and easting = 4074575.15 : 591355.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204242.21,3648.7303,N,-12158.5479,W,1,03,00.5,087.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204243.00,3648.72829,N,12158.54811,W,1,08,1.0,-3.19,M,-32.92,M,,*7C : TerrainNav update at nav time = 2075.997784 : TerrainNav update at dvl time = 2075.997784 : _navData-> (x,y) = (4074521.84, 591354.35) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204243.21,3648.7283,N,-12158.5480,W,1,03,00.5,095.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204244.00,3648.72811,N,12158.54772,W,1,08,1.0,-3.46,M,-32.92,M,,*70 : NMEA Update: $GPGGA,204244.21,3648.7280,N,-12158.5476,W,1,03,00.5,086.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204245.00,3648.72775,N,12158.54783,W,1,08,1.0,-4.02,M,-32.92,M,,*75 : Estimated North Bias at time = 2076.00 : 53.99 : Estimated East Bias at time = 2076.00 : 2.98 : Estimated Depth Bias at time = 2076.00 : 0.55 : Estimated northing and easting = 4074575.84 : 591357.33 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204245.21,3648.7277,N,-12158.5479,W,1,03,00.5,085.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204246.00,3648.72787,N,12158.54800,W,1,08,1.0,-6.12,M,-32.92,M,,*7C : TerrainNav update at nav time = 2078.997579 : TerrainNav update at dvl time = 2078.997579 : _navData-> (x,y) = (4074521.05, 591354.34) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204246.21,3648.7279,N,-12158.5481,W,1,03,00.5,087.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204247.00,3648.72782,N,12158.54841,W,1,08,1.0,-4.98,M,-32.92,M,,*7D : NMEA Update: $GPGGA,204247.21,3648.7278,N,-12158.5485,W,1,03,00.5,085.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204248.00,3648.72784,N,12158.54878,W,1,08,1.0,-4.76,M,-32.92,M,,*7E : Estimated North Bias at time = 2079.00 : 54.02 : Estimated East Bias at time = 2079.00 : 2.95 : Estimated Depth Bias at time = 2079.00 : 0.55 : Estimated northing and easting = 4074575.07 : 591357.29 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204248.21,3648.7279,N,-12158.5488,W,1,03,00.5,088.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204249.00,3648.72797,N,12158.54887,W,1,08,1.0,-4.20,M,-32.92,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2081.997373 : TerrainNav update at dvl time = 2081.997373 : _navData-> (x,y) = (4074521.33, 591352.99) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204249.21,3648.7280,N,-12158.5489,W,1,03,00.5,090.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204250.00,3648.72787,N,12158.54887,W,1,08,1.0,-4.08,M,-32.92,M,,*7D : NMEA Update: $GPGGA,204250.21,3648.7278,N,-12158.5489,W,1,03,00.5,089.3,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,204251.00,3648.72766,N,12158.54879,W,1,08,1.0,-4.24,M,-32.92,M,,*7C : Estimated North Bias at time = 2082.00 : 54.02 : Estimated East Bias at time = 2082.00 : 2.94 : Estimated Depth Bias at time = 2082.00 : 0.55 : Estimated northing and easting = 4074575.35 : 591355.93 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204251.21,3648.7276,N,-12158.5488,W,1,03,00.5,089.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204252.00,3648.72706,N,12158.54872,W,1,08,1.0,-4.71,M,-32.92,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2084.997168 : TerrainNav update at dvl time = 2084.997168 : _navData-> (x,y) = (4074519.51, 591353.33) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204252.21,3648.7270,N,-12158.5487,W,1,03,00.5,086.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204253.00,3648.72706,N,12158.54844,W,1,08,1.0,-5.13,M,-32.92,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204253.21,3648.7270,N,-12158.5484,W,1,03,00.5,092.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204254.00,3648.72707,N,12158.54834,W,1,08,1.0,-5.19,M,-32.92,M,,*78 : Estimated North Bias at time = 2085.00 : 53.99 : Estimated East Bias at time = 2085.00 : 2.96 : Estimated Depth Bias at time = 2085.00 : 0.55 : Estimated northing and easting = 4074573.50 : 591356.29 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204254.21,3648.7271,N,-12158.5483,W,1,03,00.5,087.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204255.00,3648.72699,N,12158.54839,W,1,08,1.0,-5.43,M,-32.92,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2087.996962 : TerrainNav update at dvl time = 2087.996962 : _navData-> (x,y) = (4074519.42, 591353.79) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204255.21,3648.7270,N,-12158.5484,W,1,03,00.5,083.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204256.00,3648.72681,N,12158.54840,W,1,08,1.0,-5.33,M,-32.92,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204256.21,3648.7268,N,-12158.5484,W,1,03,00.5,083.6,M,-99.9,M,,*48 : Estimated North Bias at time = 2088.00 : 54.04 : Estimated East Bias at time = 2088.00 : 2.96 : Estimated Depth Bias at time = 2088.00 : 0.55 : Estimated northing and easting = 4074573.46 : 591356.75 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204257.00,3648.72665,N,12158.54823,W,1,08,1.0,-5.02,M,-32.92,M,,*72 : NMEA Update: $GPGGA,204257.21,3648.7266,N,-12158.5482,W,1,03,00.5,085.7,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204258.00,3648.72669,N,12158.54825,W,1,08,1.0,-5.48,M,-32.92,M,,*79 : TerrainNav update at nav time = 2090.996757 : TerrainNav update at dvl time = 2090.996757 : _navData-> (x,y) = (4074518.85, 591354.11) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204258.21,3648.7267,N,-12158.5482,W,1,03,00.5,080.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204259.00,3648.72657,N,12158.54840,W,1,08,1.0,-5.59,M,-32.92,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204259.21,3648.7266,N,-12158.5484,W,1,03,00.5,086.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204300.00,3648.72729,N,12158.54860,W,1,08,1.0,-7.87,M,-32.92,M,,*70 : Estimated North Bias at time = 2091.00 : 54.05 : Estimated East Bias at time = 2091.00 : 2.94 : Estimated Depth Bias at time = 2091.00 : 0.55 : Estimated northing and easting = 4074572.91 : 591357.05 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204300.21,3648.7273,N,-12158.5487,W,1,03,00.5,088.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204301.00,3648.72767,N,12158.54788,W,1,08,1.0,-5.43,M,-32.92,M,,*78 : TerrainNav update at nav time = 2093.996552 : TerrainNav update at dvl time = 2093.996552 : _navData-> (x,y) = (4074520.72, 591354.57) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204301.21,3648.7277,N,-12158.5479,W,1,03,00.5,089.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204302.00,3648.72715,N,12158.54827,W,1,08,1.0,-5.87,M,-32.92,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204302.21,3648.7272,N,-12158.5482,W,1,03,00.5,089.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204303.00,3648.72668,N,12158.54853,W,1,08,1.0,-6.10,M,-32.92,M,,*78 : Estimated North Bias at time = 2094.00 : 54.03 : Estimated East Bias at time = 2094.00 : 2.92 : Estimated Depth Bias at time = 2094.00 : 0.55 : Estimated northing and easting = 4074574.75 : 591357.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204303.21,3648.7266,N,-12158.5486,W,1,03,00.5,088.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204304.00,3648.72652,N,12158.54867,W,1,08,1.0,-5.77,M,-32.92,M,,*73 : TerrainNav update at nav time = 2096.996346 : TerrainNav update at dvl time = 2096.996346 : _navData-> (x,y) = (4074518.47, 591353.33) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204304.21,3648.7265,N,-12158.5487,W,1,03,00.5,087.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204305.00,3648.72657,N,12158.54865,W,1,08,1.0,-5.18,M,-32.92,M,,*7C : NMEA Update: $GPGGA,204305.21,3648.7266,N,-12158.5487,W,1,03,00.5,087.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204306.00,3648.72640,N,12158.54851,W,1,08,1.0,-4.61,M,-32.92,M,,*71 : Estimated North Bias at time = 2097.00 : 54.04 : Estimated East Bias at time = 2097.00 : 2.93 : Estimated Depth Bias at time = 2097.00 : 0.55 : Estimated northing and easting = 4074572.52 : 591356.26 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204306.21,3648.7264,N,-12158.5485,W,1,03,00.5,090.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204307.00,3648.72635,N,12158.54840,W,1,08,1.0,-4.93,M,-32.92,M,,*7F : TerrainNav update at nav time = 2099.996140 : TerrainNav update at dvl time = 2099.996140 : _navData-> (x,y) = (4074518.22, 591353.92) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204307.21,3648.7263,N,-12158.5483,W,1,03,00.5,088.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204308.00,3648.72645,N,12158.54842,W,1,08,1.0,-4.94,M,-32.92,M,,*72 : NMEA Update: $GPGGA,204308.21,3648.7265,N,-12158.5484,W,1,03,00.5,088.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204309.00,3648.72629,N,12158.54829,W,1,08,1.0,-4.73,M,-32.92,M,,*7D : Estimated North Bias at time = 2100.00 : 54.11 : Estimated East Bias at time = 2100.00 : 2.94 : Estimated Depth Bias at time = 2100.00 : 0.54 : Estimated northing and easting = 4074572.33 : 591356.86 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204309.20,3648.7263,N,-12158.5483,W,1,03,00.5,085.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204310.00,3648.72627,N,12158.54813,W,1,08,1.0,-4.88,M,-32.92,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2102.995935 : TerrainNav update at dvl time = 2102.995935 : _navData-> (x,y) = (4074518.07, 591354.27) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204310.20,3648.7262,N,-12158.5481,W,1,03,00.5,081.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204311.00,3648.72587,N,12158.54779,W,1,08,1.0,-4.79,M,-32.92,M,,*73 : NMEA Update: $GPGGA,204311.20,3648.7258,N,-12158.5477,W,1,03,00.5,083.6,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,204312.00,3648.72577,N,12158.54776,W,1,08,1.0,-5.16,M,-32.92,M,,*78 : Estimated North Bias at time = 2103.00 : 54.09 : Estimated East Bias at time = 2103.00 : 2.92 : Estimated Depth Bias at time = 2103.00 : 0.54 : Estimated northing and easting = 4074572.17 : 591357.20 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204312.20,3648.7257,N,-12158.5477,W,1,03,00.5,082.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204313.00,3648.72542,N,12158.54788,W,1,08,1.0,-5.40,M,-32.92,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2105.995729 : TerrainNav update at dvl time = 2105.995729 : _navData-> (x,y) = (4074516.49, 591354.55) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204313.20,3648.7254,N,-12158.5479,W,1,03,00.5,086.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204314.00,3648.72536,N,12158.54814,W,1,08,1.0,-5.41,M,-32.92,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204314.20,3648.7253,N,-12158.5482,W,1,03,00.5,087.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204315.00,3648.72523,N,12158.54821,W,1,08,1.0,-5.54,M,-32.92,M,,*75 : Estimated North Bias at time = 2106.00 : 54.08 : Estimated East Bias at time = 2106.00 : 2.93 : Estimated Depth Bias at time = 2106.00 : 0.54 : Estimated northing and easting = 4074570.57 : 591357.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204315.20,3648.7252,N,-12158.5482,W,1,03,00.5,087.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204316.00,3648.72548,N,12158.54846,W,1,08,1.0,-5.57,M,-32.92,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2108.995524 : TerrainNav update at dvl time = 2108.995524 : _navData-> (x,y) = (4074516.72, 591353.69) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204316.20,3648.7255,N,-12158.5485,W,1,03,00.5,087.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204317.00,3648.72534,N,12158.54846,W,1,08,1.0,-5.22,M,-32.92,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204317.20,3648.7253,N,-12158.5485,W,1,03,00.5,087.3,M,-99.9,M,,*45 : Estimated North Bias at time = 2109.00 : 54.08 : Estimated East Bias at time = 2109.00 : 2.94 : Estimated Depth Bias at time = 2109.00 : 0.54 : Estimated northing and easting = 4074570.80 : 591356.63 : AshtechGps::processRecord() - $GPGGA,204318.00,3648.72534,N,12158.54849,W,1,08,1.0,-5.05,M,-32.92,M,,*74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204318.20,3648.7253,N,-12158.5485,W,1,03,00.5,080.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204319.00,3648.72530,N,12158.54838,W,1,08,1.0,-4.30,M,-32.92,M,,*70 : TerrainNav update at nav time = 2111.995318 : TerrainNav update at dvl time = 2111.995318 : _navData-> (x,y) = (4074516.26, 591353.86) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204319.20,3648.7253,N,-12158.5484,W,1,03,00.5,089.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204320.00,3648.72523,N,12158.54834,W,1,08,1.0,-4.64,M,-32.92,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204320.20,3648.7252,N,-12158.5483,W,1,03,00.5,084.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204321.00,3648.72525,N,12158.54846,W,1,08,1.0,-5.00,M,-32.92,M,,*74 : Estimated North Bias at time = 2112.00 : 54.00 : Estimated East Bias at time = 2112.00 : 2.95 : Estimated Depth Bias at time = 2112.00 : 0.55 : Estimated northing and easting = 4074570.26 : 591356.81 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204321.20,3648.7253,N,-12158.5485,W,1,03,00.5,087.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204322.00,3648.72511,N,12158.54850,W,1,08,1.0,-4.74,M,-32.92,M,,*75 : TerrainNav update at nav time = 2114.995113 : TerrainNav update at dvl time = 2114.995113 : _navData-> (x,y) = (4074515.96, 591353.68) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204322.20,3648.7251,N,-12158.5485,W,1,03,00.5,084.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204323.00,3648.72511,N,12158.54829,W,1,08,1.0,-4.43,M,-32.92,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 2115.00 : 54.00 : Estimated East Bias at time = 2115.00 : 2.94 : Estimated Depth Bias at time = 2115.00 : 0.55 : Estimated northing and easting = 4074569.96 : 591356.62 : NMEA Update: $GPGGA,204323.20,3648.7251,N,-12158.5483,W,1,03,00.5,081.3,M,-99.9,M,,*40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204324.00,3648.72497,N,12158.54769,W,1,08,1.0,-4.14,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,204324.20,3648.7249,N,-12158.5476,W,1,03,00.5,084.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204325.00,3648.72483,N,12158.54770,W,1,08,1.0,-5.01,M,-32.92,M,,*76 : TerrainNav update at nav time = 2117.994907 : TerrainNav update at dvl time = 2117.994907 : _navData-> (x,y) = (4074515.34, 591354.91) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204325.20,3648.7248,N,-12158.5477,W,1,03,00.5,080.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204326.00,3648.72497,N,12158.54792,W,1,08,1.0,-5.49,M,-32.92,M,,*70 : NMEA Update: $GPGGA,204326.20,3648.7250,N,-12158.5480,W,1,03,00.5,084.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204327.00,3648.72482,N,12158.54813,W,1,08,1.0,-5.35,M,-32.92,M,,*78 : Estimated North Bias at time = 2117.99 : 54.03 : Estimated East Bias at time = 2117.99 : 2.95 : Estimated Depth Bias at time = 2117.99 : 0.56 : Estimated northing and easting = 4074569.37 : 591357.85 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204327.20,3648.7248,N,-12158.5481,W,1,03,00.5,087.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204328.00,3648.72500,N,12158.54784,W,1,08,1.0,-4.89,M,-32.92,M,,*7B : TerrainNav update at nav time = 2120.994702 : TerrainNav update at dvl time = 2120.994702 : _navData-> (x,y) = (4074515.70, 591354.72) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204328.20,3648.7250,N,-12158.5478,W,1,03,00.5,087.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204329.00,3648.72470,N,12158.54758,W,1,08,1.0,-4.81,M,-32.92,M,,*75 : NMEA Update: $GPGGA,204329.20,3648.7247,N,-12158.5475,W,1,03,00.5,084.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204330.00,3648.72483,N,12158.54756,W,1,08,1.0,-4.93,M,-32.92,M,,*7C : Estimated North Bias at time = 2120.99 : 54.01 : Estimated East Bias at time = 2120.99 : 2.95 : Estimated Depth Bias at time = 2120.99 : 0.56 : Estimated northing and easting = 4074569.71 : 591357.67 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204330.20,3648.7248,N,-12158.5475,W,1,03,00.5,084.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204331.00,3648.72477,N,12158.54746,W,1,08,1.0,-5.18,M,-32.92,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2123.994496 : TerrainNav update at dvl time = 2123.994496 : _navData-> (x,y) = (4074515.33, 591355.25) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204331.20,3648.7248,N,-12158.5475,W,1,03,00.5,084.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204332.00,3648.72475,N,12158.54751,W,1,08,1.0,-5.53,M,-32.92,M,,*7D : NMEA Update: $GPGGA,204332.21,3648.7247,N,-12158.5475,W,1,03,00.5,081.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 2123.99 : 54.01 : Estimated East Bias at time = 2123.99 : 2.94 : Estimated Depth Bias at time = 2123.99 : 0.56 : Estimated northing and easting = 4074569.35 : 591358.19 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204333.00,3648.72442,N,12158.54817,W,1,08,1.0,-6.20,M,-32.92,M,,*72 : NMEA Update: $GPGGA,204333.21,3648.7244,N,-12158.5483,W,1,03,00.5,085.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204334.00,3648.72429,N,12158.54845,W,1,08,1.0,-5.33,M,-32.92,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2126.994291 : TerrainNav update at dvl time = 2126.994291 : _navData-> (x,y) = (4074514.46, 591353.70) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204334.21,3648.7243,N,-12158.5485,W,1,03,00.5,090.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204335.00,3648.72436,N,12158.54832,W,1,08,1.0,-4.68,M,-32.92,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204335.21,3648.7244,N,-12158.5483,W,1,03,00.5,087.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204336.00,3648.72425,N,12158.54817,W,1,08,1.0,-4.50,M,-32.92,M,,*73 : Estimated North Bias at time = 2126.99 : 54.03 : Estimated East Bias at time = 2126.99 : 2.94 : Estimated Depth Bias at time = 2126.99 : 0.56 : Estimated northing and easting = 4074568.49 : 591356.64 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204336.21,3648.7243,N,-12158.5481,W,1,03,00.5,086.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204337.00,3648.72431,N,12158.54785,W,1,08,1.0,-4.33,M,-32.92,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2129.994085 : TerrainNav update at dvl time = 2129.994085 : _navData-> (x,y) = (4074514.49, 591354.74) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204337.21,3648.7243,N,-12158.5478,W,1,03,00.5,094.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204338.00,3648.72413,N,12158.54757,W,1,08,1.0,-4.25,M,-32.92,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204338.21,3648.7241,N,-12158.5475,W,1,03,00.5,087.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204339.00,3648.72384,N,12158.54742,W,1,08,1.0,-4.80,M,-32.92,M,,*72 : Estimated North Bias at time = 2129.99 : 54.05 : Estimated East Bias at time = 2129.99 : 2.89 : Estimated Depth Bias at time = 2129.99 : 0.56 : Estimated northing and easting = 4074568.54 : 591357.62 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204339.21,3648.7238,N,-12158.5474,W,1,03,00.5,086.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204340.00,3648.72358,N,12158.54747,W,1,08,1.0,-4.92,M,-32.92,M,,*7B : TerrainNav update at nav time = 2132.993880 : TerrainNav update at dvl time = 2132.993880 : _navData-> (x,y) = (4074513.05, 591355.26) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204340.21,3648.7235,N,-12158.5475,W,1,03,00.5,087.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204341.00,3648.72368,N,12158.54745,W,1,08,1.0,-5.17,M,-32.92,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204341.21,3648.7237,N,-12158.5474,W,1,03,00.5,087.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204342.00,3648.72373,N,12158.54741,W,1,08,1.0,-5.28,M,-32.92,M,,*76 : Estimated North Bias at time = 2132.99 : 54.04 : Estimated East Bias at time = 2132.99 : 2.89 : Estimated Depth Bias at time = 2132.99 : 0.56 : Estimated northing and easting = 4074567.09 : 591358.15 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204342.21,3648.7238,N,-12158.5474,W,1,03,00.5,086.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204343.00,3648.72388,N,12158.54781,W,1,08,1.0,-6.02,M,-32.92,M,,*74 : TerrainNav update at nav time = 2135.993675 : TerrainNav update at dvl time = 2135.993675 : _navData-> (x,y) = (4074513.77, 591354.79) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204343.21,3648.7239,N,-12158.5479,W,1,03,00.5,086.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204344.00,3648.72391,N,12158.54831,W,1,08,1.0,-5.87,M,-32.92,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204344.21,3648.7239,N,-12158.5484,W,1,03,00.5,084.6,M,-99.9,M,,*49 : Estimated North Bias at time = 2135.99 : 54.04 : Estimated East Bias at time = 2135.99 : 2.89 : Estimated Depth Bias at time = 2135.99 : 0.56 : Estimated northing and easting = 4074567.81 : 591357.68 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204345.00,3648.72382,N,12158.54843,W,1,08,1.0,-4.95,M,-32.92,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204345.21,3648.7238,N,-12158.5484,W,1,03,00.5,082.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204346.00,3648.72368,N,12158.54824,W,1,08,1.0,-4.46,M,-32.92,M,,*7D : TerrainNav update at nav time = 2138.993469 : TerrainNav update at dvl time = 2138.993469 : _navData-> (x,y) = (4074513.30, 591354.18) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204346.21,3648.7236,N,-12158.5482,W,1,03,00.5,088.1,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,204347.00,3648.72330,N,12158.54774,W,1,08,1.0,-3.91,M,-32.92,M,,*76 : NMEA Update: $GPGGA,204347.21,3648.7233,N,-12158.5477,W,1,03,00.5,085.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204348.00,3648.72325,N,12158.54716,W,1,08,1.0,-3.64,M,-32.92,M,,*73 : Estimated North Bias at time = 2138.99 : 54.04 : Estimated East Bias at time = 2138.99 : 2.92 : Estimated Depth Bias at time = 2138.99 : 0.56 : Estimated northing and easting = 4074567.33 : 591357.10 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204348.21,3648.7232,N,-12158.5470,W,1,03,00.5,083.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204349.00,3648.72313,N,12158.54679,W,1,08,1.0,-4.38,M,-32.92,M,,*71 : TerrainNav update at nav time = 2141.993263 : TerrainNav update at dvl time = 2141.993263 : _navData-> (x,y) = (4074512.27, 591356.49) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204349.21,3648.7231,N,-12158.5467,W,1,03,00.5,086.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204350.00,3648.72298,N,12158.54682,W,1,08,1.0,-5.36,M,-32.92,M,,*70 : NMEA Update: $GPGGA,204350.21,3648.7229,N,-12158.5469,W,1,03,00.5,084.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204351.00,3648.72285,N,12158.54715,W,1,08,1.0,-5.58,M,-32.92,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 2141.99 : 54.01 : Estimated East Bias at time = 2141.99 : 2.93 : Estimated Depth Bias at time = 2141.99 : 0.56 : Estimated northing and easting = 4074566.27 : 591359.42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204351.21,3648.7228,N,-12158.5472,W,1,03,00.5,085.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204352.00,3648.72295,N,12158.54719,W,1,08,1.0,-5.17,M,-32.92,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2144.993058 : TerrainNav update at dvl time = 2144.993058 : _navData-> (x,y) = (4074511.96, 591355.59) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204352.21,3648.7230,N,-12158.5472,W,1,03,00.5,093.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204353.00,3648.72315,N,12158.54692,W,1,08,1.0,-4.98,M,-32.92,M,,*73 : NMEA Update: $GPGGA,204353.21,3648.7232,N,-12158.5468,W,1,03,00.5,087.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204354.00,3648.72311,N,12158.54679,W,1,08,1.0,-5.64,M,-32.92,M,,*77 : Estimated North Bias at time = 2144.99 : 53.99 : Estimated East Bias at time = 2144.99 : 2.92 : Estimated Depth Bias at time = 2144.99 : 0.56 : Estimated northing and easting = 4074565.95 : 591358.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204354.21,3648.7231,N,-12158.5468,W,1,03,00.5,089.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204355.00,3648.72298,N,12158.54712,W,1,08,1.0,-6.48,M,-32.92,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2148.002852 : TerrainNav update at dvl time = 2148.002852 : _navData-> (x,y) = (4074511.95, 591355.81) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204355.21,3648.7230,N,-12158.5472,W,1,03,00.5,084.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204356.00,3648.72278,N,12158.54750,W,1,08,1.0,-6.33,M,-32.92,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204356.21,3648.7228,N,-12158.5475,W,1,03,00.5,082.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204357.00,3648.72267,N,12158.54772,W,1,08,1.0,-5.56,M,-32.92,M,,*7F : Estimated North Bias at time = 2148.00 : 54.02 : Estimated East Bias at time = 2148.00 : 2.90 : Estimated Depth Bias at time = 2148.00 : 0.56 : Estimated northing and easting = 4074565.97 : 591358.70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204357.21,3648.7227,N,-12158.5477,W,1,03,00.5,079.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204358.00,3648.72268,N,12158.54774,W,1,08,1.0,-5.07,M,-32.92,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2151.002646 : TerrainNav update at dvl time = 2151.002646 : _navData-> (x,y) = (4074511.47, 591354.83) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204358.21,3648.7227,N,-12158.5477,W,1,03,00.5,087.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204359.00,3648.72251,N,12158.54737,W,1,08,1.0,-4.47,M,-32.92,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204359.21,3648.7225,N,-12158.5473,W,1,03,00.5,089.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204400.00,3648.72255,N,12158.54719,W,1,08,1.0,-5.05,M,-32.92,M,,*70 : Estimated North Bias at time = 2151.00 : 54.01 : Estimated East Bias at time = 2151.00 : 2.91 : Estimated Depth Bias at time = 2151.00 : 0.56 : Estimated northing and easting = 4074565.48 : 591357.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204400.21,3648.7225,N,-12158.5471,W,1,03,00.5,087.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204401.00,3648.72233,N,12158.54713,W,1,08,1.0,-5.02,M,-32.92,M,,*7C : TerrainNav update at nav time = 2154.002441 : TerrainNav update at dvl time = 2154.002441 : _navData-> (x,y) = (4074510.83, 591355.85) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204401.21,3648.7223,N,-12158.5471,W,1,03,00.5,087.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204402.00,3648.72226,N,12158.54709,W,1,08,1.0,-4.62,M,-32.92,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204402.21,3648.7223,N,-12158.5471,W,1,03,00.5,084.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204403.00,3648.72203,N,12158.54788,W,1,08,1.0,-0.82,M,-32.92,M,,*72 : Estimated North Bias at time = 2154.00 : 53.94 : Estimated East Bias at time = 2154.00 : 3.30 : Estimated Depth Bias at time = 2154.00 : 0.57 : Estimated northing and easting = 4074564.77 : 591359.15 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204403.21,3648.7220,N,-12158.5478,W,1,03,00.5,079.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204404.00,3648.72193,N,12158.54783,W,1,08,1.0,-0.96,M,-32.92,M,,*71 : TerrainNav update at nav time = 2157.002235 : TerrainNav update at dvl time = 2157.002235 : _navData-> (x,y) = (4074510.07, 591354.78) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204404.21,3648.7219,N,-12158.5478,W,1,03,00.5,086.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204405.00,3648.72206,N,12158.54821,W,1,08,1.0,0.53,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,204405.21,3648.7221,N,-12158.5482,W,1,03,00.5,082.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204406.00,3648.72380,N,12158.54542,W,1,08,1.0,-3.92,M,-32.92,M,,*7B : Estimated North Bias at time = 2157.00 : 53.91 : Estimated East Bias at time = 2157.00 : 3.38 : Estimated Depth Bias at time = 2157.00 : 0.57 : Estimated northing and easting = 4074563.99 : 591358.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204406.21,3648.7238,N,-12158.5454,W,1,03,00.5,083.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204407.00,3648.72407,N,12158.54477,W,1,08,1.0,-4.93,M,-32.92,M,,*73 : TerrainNav update at nav time = 2160.002030 : TerrainNav update at dvl time = 2160.002030 : _navData-> (x,y) = (4074514.06, 591359.39) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204407.21,3648.7240,N,-12158.5447,W,1,03,00.5,087.3,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,204408.00,3648.72433,N,12158.54434,W,1,08,1.0,-5.52,M,-32.92,M,,*70 : NMEA Update: $GPGGA,204408.21,3648.7243,N,-12158.5444,W,1,03,00.5,088.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204409.00,3648.72418,N,12158.54490,W,1,08,1.0,-3.73,M,-32.92,M,,*73 : Estimated North Bias at time = 2160.00 : 53.95 : Estimated East Bias at time = 2160.00 : 3.27 : Estimated Depth Bias at time = 2160.00 : 0.57 : Estimated northing and easting = 4074568.01 : 591362.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204409.21,3648.7241,N,-12158.5449,W,1,03,00.5,085.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204410.00,3648.72506,N,12158.54442,W,1,08,1.0,-3.43,M,-32.92,M,,*79 : TerrainNav update at nav time = 2163.001824 : TerrainNav update at dvl time = 2163.001824 : _navData-> (x,y) = (4074515.97, 591359.67) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204410.21,3648.7251,N,-12158.5445,W,1,03,00.5,087.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204411.00,3648.72306,N,12158.54633,W,1,08,1.0,-3.91,M,-32.92,M,,*75 : NMEA Update: $GPGGA,204411.21,3648.7231,N,-12158.5463,W,1,03,00.5,082.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204412.00,3648.72633,N,12158.54379,W,1,08,1.0,-1.42,M,-32.92,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 2163.00 : 53.84 : Estimated East Bias at time = 2163.00 : 3.73 : Estimated Depth Bias at time = 2163.00 : 0.55 : Estimated northing and easting = 4074569.81 : 591363.40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204412.21,3648.7263,N,-12158.5438,W,1,03,00.5,080.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204413.00,3648.72282,N,12158.54649,W,1,08,1.0,-2.36,M,-32.92,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2166.001619 : TerrainNav update at dvl time = 2166.001619 : _navData-> (x,y) = (4074511.69, 591356.72) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204413.21,3648.7228,N,-12158.5465,W,1,03,00.5,087.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204414.00,3648.72387,N,12158.54520,W,1,08,1.0,-3.14,M,-32.92,M,,*75 : NMEA Update: $GPGGA,204414.21,3648.7239,N,-12158.5452,W,1,03,00.5,080.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204415.00,3648.72310,N,12158.54581,W,1,08,1.0,-1.27,M,-32.92,M,,*73 : Estimated North Bias at time = 2166.00 : 53.84 : Estimated East Bias at time = 2166.00 : 3.73 : Estimated Depth Bias at time = 2166.00 : 0.55 : Estimated northing and easting = 4074565.53 : 591360.44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204415.21,3648.7231,N,-12158.5457,W,1,03,00.5,093.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204416.00,3648.72361,N,12158.54503,W,1,08,1.0,-2.81,M,-32.92,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2169.001413 : TerrainNav update at dvl time = 2169.001413 : _navData-> (x,y) = (4074513.23, 591358.94) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204416.21,3648.7236,N,-12158.5450,W,1,03,00.5,085.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204417.00,3648.72371,N,12158.54500,W,1,08,1.0,-2.25,M,-32.92,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204417.21,3648.7237,N,-12158.5449,W,1,03,00.5,085.5,M,-99.9,M,,*45 : Estimated North Bias at time = 2169.00 : 53.85 : Estimated East Bias at time = 2169.00 : 3.68 : Estimated Depth Bias at time = 2169.00 : 0.56 : Estimated northing and easting = 4074567.08 : 591362.62 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204418.00,3648.72301,N,12158.54507,W,1,08,1.0,-2.90,M,-32.92,M,,*7F : NMEA Update: $GPGGA,204418.21,3648.7230,N,-12158.5451,W,1,03,00.5,083.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204419.00,3648.72405,N,12158.54432,W,1,08,1.0,-1.88,M,-32.92,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2172.001208 : TerrainNav update at dvl time = 2172.001208 : _navData-> (x,y) = (4074513.99, 591360.06) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204419.21,3648.7240,N,-12158.5442,W,1,03,00.5,079.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204420.00,3648.72286,N,12158.54525,W,1,08,1.0,-5.34,M,-32.92,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204420.21,3648.7229,N,-12158.5454,W,1,03,00.5,086.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204421.00,3648.72314,N,12158.54559,W,1,08,1.0,-3.71,M,-32.92,M,,*74 : Estimated North Bias at time = 2172.00 : 53.86 : Estimated East Bias at time = 2172.00 : 3.67 : Estimated Depth Bias at time = 2172.00 : 0.56 : Estimated northing and easting = 4074567.84 : 591363.73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204421.21,3648.7231,N,-12158.5457,W,1,03,00.5,089.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204422.00,3648.72214,N,12158.54666,W,1,08,1.0,-3.70,M,-32.92,M,,*78 : TerrainNav update at nav time = 2175.001002 : TerrainNav update at dvl time = 2175.001002 : _navData-> (x,y) = (4074510.48, 591356.39) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204422.21,3648.7221,N,-12158.5467,W,1,03,00.5,087.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204423.00,3648.72297,N,12158.54565,W,1,08,1.0,-2.38,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,204423.21,3648.7229,N,-12158.5456,W,1,03,00.5,085.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204424.00,3648.72334,N,12158.54520,W,1,08,1.0,-0.62,M,-32.92,M,,*7C : Estimated North Bias at time = 2175.00 : 53.86 : Estimated East Bias at time = 2175.00 : 3.67 : Estimated Depth Bias at time = 2175.00 : 0.56 : Estimated northing and easting = 4074564.34 : 591360.06 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204424.21,3648.7233,N,-12158.5451,W,1,03,00.5,083.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204425.00,3648.72276,N,12158.54518,W,1,08,1.0,-0.83,M,-32.92,M,,*7E : TerrainNav update at nav time = 2178.000797 : TerrainNav update at dvl time = 2178.000797 : _navData-> (x,y) = (4074511.66, 591358.81) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204425.21,3648.7227,N,-12158.5451,W,1,03,00.5,090.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204426.00,3648.72260,N,12158.54481,W,1,08,1.0,-2.11,M,-32.92,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204426.21,3648.7226,N,-12158.5447,W,1,03,00.5,082.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204427.00,3648.72429,N,12158.54313,W,1,08,1.0,-3.18,M,-32.92,M,,*7C : Estimated North Bias at time = 2178.00 : 53.82 : Estimated East Bias at time = 2178.00 : 3.85 : Estimated Depth Bias at time = 2178.00 : 0.55 : Estimated northing and easting = 4074565.47 : 591362.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204427.21,3648.7242,N,-12158.5431,W,1,03,00.5,081.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204428.00,3648.72245,N,12158.54466,W,1,08,1.0,-3.86,M,-32.92,M,,*7D : TerrainNav update at nav time = 2181.000591 : TerrainNav update at dvl time = 2181.000591 : _navData-> (x,y) = (4074511.06, 591359.35) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204428.21,3648.7224,N,-12158.5447,W,1,03,00.5,087.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204429.00,3648.72227,N,12158.54493,W,1,08,1.0,-4.38,M,-32.92,M,,*70 : NMEA Update: $GPGGA,204429.21,3648.7223,N,-12158.5449,W,1,03,00.5,079.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204430.00,3648.72248,N,12158.54517,W,1,08,1.0,-2.43,M,-32.92,M,,*76 : Estimated North Bias at time = 2181.00 : 53.82 : Estimated East Bias at time = 2181.00 : 3.88 : Estimated Depth Bias at time = 2181.00 : 0.54 : Estimated northing and easting = 4074564.89 : 591363.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204430.21,3648.7225,N,-12158.5452,W,1,03,00.5,086.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204431.00,3648.72180,N,12158.54566,W,1,08,1.0,-3.52,M,-32.92,M,,*77 : TerrainNav update at nav time = 2184.000386 : TerrainNav update at dvl time = 2184.000386 : _navData-> (x,y) = (4074509.89, 591357.93) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204431.21,3648.7218,N,-12158.5457,W,1,03,00.5,091.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204432.00,3648.72213,N,12158.54519,W,1,08,1.0,-3.25,M,-32.92,M,,*75 : NMEA Update: $GPGGA,204432.21,3648.7221,N,-12158.5452,W,1,03,00.5,085.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204433.00,3648.72214,N,12158.54498,W,1,08,1.0,-2.20,M,-32.92,M,,*7F : Estimated North Bias at time = 2184.00 : 53.82 : Estimated East Bias at time = 2184.00 : 3.88 : Estimated Depth Bias at time = 2184.00 : 0.54 : Estimated northing and easting = 4074563.71 : 591361.81 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204433.21,3648.7222,N,-12158.5449,W,1,03,00.5,085.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204434.00,3648.72218,N,12158.54506,W,1,08,1.0,-2.66,M,-32.92,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2187.000180 : TerrainNav update at dvl time = 2187.000180 : _navData-> (x,y) = (4074510.53, 591358.88) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204434.21,3648.7221,N,-12158.5451,W,1,03,00.5,090.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204435.00,3648.72249,N,12158.54462,W,1,08,1.0,-3.67,M,-32.92,M,,*76 : NMEA Update: $GPGGA,204435.24,3648.7225,N,-12158.5447,W,1,03,00.5,085.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204436.00,3648.72241,N,12158.54454,W,1,08,1.0,-3.66,M,-32.92,M,,*79 : Estimated North Bias at time = 2187.00 : 53.83 : Estimated East Bias at time = 2187.00 : 3.87 : Estimated Depth Bias at time = 2187.00 : 0.55 : Estimated northing and easting = 4074564.35 : 591362.75 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204436.21,3648.7224,N,-12158.5446,W,1,03,00.5,093.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204437.00,3648.72167,N,12158.54530,W,1,08,1.0,-1.58,M,-32.92,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2189.999975 : TerrainNav update at dvl time = 2189.999975 : _navData-> (x,y) = (4074509.64, 591358.60) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204437.21,3648.7217,N,-12158.5452,W,1,03,00.5,087.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204438.00,3648.72265,N,12158.54416,W,1,08,1.0,-0.04,M,-32.92,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204438.21,3648.7226,N,-12158.5442,W,1,03,00.5,089.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204439.00,3648.72132,N,12158.54506,W,1,08,1.0,-2.84,M,-32.92,M,,*7A : Estimated North Bias at time = 2190.00 : 53.83 : Estimated East Bias at time = 2190.00 : 3.89 : Estimated Depth Bias at time = 2190.00 : 0.54 : Estimated northing and easting = 4074563.47 : 591362.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204439.21,3648.7213,N,-12158.5450,W,1,03,00.5,084.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204440.00,3648.72133,N,12158.54530,W,1,08,1.0,-2.41,M,-32.92,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2192.999769 : TerrainNav update at dvl time = 2192.999769 : _navData-> (x,y) = (4074509.17, 591358.48) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204440.21,3648.7214,N,-12158.5453,W,1,03,00.5,083.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204441.00,3648.72197,N,12158.54454,W,1,08,1.0,-3.96,M,-32.92,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204441.21,3648.7219,N,-12158.5445,W,1,03,00.5,084.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204442.00,3648.72171,N,12158.54469,W,1,08,1.0,-3.35,M,-32.92,M,,*72 : Supervisor::signalHandler(); caught signal 15 : Supervisor::signalHandler(); Received a SIGTERM or SIGQUIT. DropWeightServer NOT started. : Supervisor::cleanup() - delete _theSupervisor : Supervisor::shutdown() : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task UsblIFServer - exit() on signal 2 : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 2 : TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2 : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task TerrainAidIFServer - exit() on signal 2 : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : StepGetStat(2): checksum error : Supervisor::shutdown() - done() : 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. : TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : DropWeight Destructor Executing. : **** SharedData destructor for object GpsOutput_ShmemName **** //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00044650. : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18 : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 18 : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object EchoSounderOutput_ShmemName **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object m3dmgx1Cmd **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object CameraOutput **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TerrainAidOutput **** : SerialDeviceExt::closeSD() - closed : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object EchoSounderOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : TerrainAidDestructor Executing. : **** SharedData destructor for object m3dmgx1 **** : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 18 : **** SharedData destructor for object BenthosModemOutout **** : **** SharedData destructor for object dropWeightOutput **** : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18 : **** SharedData destructor for object CameraOutput **** : SerialDeviceExt::closeSD() - closed : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : **** SharedData destructor for object TerrainAidOutput **** : SerialDevice: done... : Dvl::~Dvl: Destructor Finished. //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002456F. : StepGetStat (3) failed to read chars, rcvd=2, want=8 : StepGetStat (3) 5d 5d 00 00 05 00 00 : StepGetStat (3) failed to read chars, rcvd=2, want=8 : StepGetStat (3) 18 18 00 00 05 00 00 : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName ****