Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleCon: Initializing worksiteServer figurati: WorkSite::WorkSite -- Adding attributes onS: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/workSite.cfg erver Supervisor::createTask() - externalCommsServer S: Using default vehicle config file "/home/dorado1/auv-qnx/auv/altex/onboard/config/docking/vehicle.cfg" upervisor::createTask() - navigati: WorkSite::WorkSite -- Finished loading parameters on: WorkSite::WorkSite -- Starting Depth is 0.000000 meters Ser: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 ve: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 r : 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: 0x23018 Supervisor::createTask() - layeredControlServer : Creating NavigationServer... S: *** NavigationServer::NavigationServer()... up: *** NavigationServer::NavigationServer() - DONE e: Done creating NavigationServer... rvisor::createTask() - dynamicControlServer : New Navigation component constructor Supervisor::createTask() - newTailConeServer Supervisor::createTask() - m3dmgx1Server : Navigation - Using only the Dvl to compute altitude. : Navigation: Opening Acoustic Modem Interface: Supervisor::createTask() - gpsServer Supervisor::createTask() - parosciS: Preparing to fork erver : SerialDevice: done... : I'm the child...forking : TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts Su: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts perv: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts is: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts or: SerialDevice: done... ::createTask() - dvlServer : SerialDevice: done... : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() Supervisor::createTask() - dropWeightServer : SerialDevice: done... Supe: SerialDevice: done... rvisor::createTask() - sonardyneServer : SerialDevice: done... : Crossbow.cc: In getSerialNumber() Supervisor::createTask() - cameraServer : SerialDevice: done... Superv: SerialDevice: done... isor::createTask() - echoSounderS: Gps: initializing erve: SerialDevice: done... r : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : SerialDevice: done... Supervisor::createTask: Parosci.cc -- parsed PR (30) and TempInterval (10) () - benthosServer : AshtechGps::processRecord() - $GPGGA,202350.00,3648.67882,N,12158.31284,W,1,11,0.8,-0.18,M,-33.02,M,,*72 : SerialDevice: done... Supervisor::createTa: Parosci.cc -- Serial # is 87760 sk(): SonardyneServer.cc was last compiled on Jul 19 2010, 03:30:31 - te: SerialDevice: done... rrainAidServer : Parosci::init() - mode set okay : Parosci.cc -- PR reply = 30 : Crossbow.cc: device->read succeeded : m3dmgx1: Serial Number is 6380 : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : Parosci.cc -- units = 1 : SerialDevice: done... : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : SerialDevice: done... : DepthEnvelope - Error. maxLowerPitch must be a postive number. Flipping the sign now. : maxLowerPitch = 1745.31 : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : SonardyneDriver.cc was last compiled on Jul 19 2010, 13:48:20 : AshtechGps::processRecord() - $GPGGA,202351.00,3648.67866,N,12158.31299,W,1,11,0.8,-0.75,M,-33.02,M,,*7E : CameraDriver:: Before navigation IF. : CameraDriver enabling 12V camera power supply : PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200 : SerialDeviceDriver::initialize() : Starting DVL Initialization. : SerialDevice: done... : Navigation: acommsIF = 0x6ec7c : ahrs if is Ahrs : SerialDevice: done... : 3 Modules found : SerialDevice: done... : SerialDevice: done... : BenthosModem::commandMode() - confirming... : Set verbose level : 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 : AshtechGps::processRecord() - $GPGGA,202352.00,3648.67870,N,12158.31314,W,1,11,0.8,-1.01,M,-33.02,M,,*7C : Parosci.cc -- Initial pressure = 1.096956 : Configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/terrainAid.cfg : TerrainAid -- configuration: : mapFileName = SoquelCanyonMAUVUTMTopo_NoNan.grd : vehicleCfgName = mappingAUV_specs.cfg : dvlFileName = rdiDVL_specs.cfg : resonCfgName = resonSeabat8101_specs.cfg : samplePeriod = 3000 : maxNorthingCov = 30.00 : maxEastingCov = 30.00 : maxNorthingError = 300.00 : maxEastingError = 300.00 : Set write delay : Parosci.cc -- Parosci initial pressure period = 30.138840 : Parosci.cc -- Parosci initial temp period = 5.842322 : Parosci.cc -- Paroscientific configured. : Vehicle configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/mappingAUV_specs.cfg : NMEA Update: $GPGGA,202351.78,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*54 : Set remote response waiting time : CR1 [Parameters set to FACTORY defaults] > : PD5 > : BK1 > : TP00:00.20 > : Dvl configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/rdiDVL_specs.cfg : TE00:00:00.00 > : BL,10,010,100 > : BP001 > : CF11010 > : CB611 > : SerialDevice: done... : Dvl::initialize - Baud rate set to 38400. : EX10011 > : EA+04238 > : WP0001 > : WN25 > : Dvl::initialize - The number of cells is 25. : WV210 > : Dvl::initialize - 14 valid commands read in from dvl.cfg. : EC1490 > : > : Dvl::initialize() - The DVL is initialized. : **** EventTriggers::add() - attaching proxy : 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 : Turn on doppler correction : AshtechGps::processRecord() - $GPGGA,202353.00,3648.67866,N,12158.31337,W,1,11,0.8,-0.86,M,-33.02,M,,*75 : BenthosModem::onlineMode() - confirming... : done initializing modem : PeriodicTask::run() (BenthosModem) - sampleInterval=1000, maxInterval=1000 : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : NMEA Update: $GPGGA,202352.78,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : header is >CS 7 : Dvl record header not found. Resynchronize. : AshtechGps::processRecord() - $GPGGA,202354.00,3648.67837,N,12158.31309,W,1,11,0.8,-0.20,M,-33.02,M,,*77 : Dvl:: Serial resynchronization completed. : **** EventTriggers::add() - attaching proxy : NMEA Update: $GPGGA,202353.78,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : AshtechGps::processRecord() - $GPGGA,202355.00,3648.67795,N,12158.31295,W,1,11,0.8,0.17,M,-33.02,M,,*5C : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = 0.00 : NMEA Update: $GPGGA,202354.78,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*51 : AshtechGps::processRecord() - $GPGGA,202356.00,3648.67789,N,12158.31282,W,1,11,0.8,-0.21,M,-33.02,M,,*7C : NMEA Update: $GPGGA,202355.78,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*50 : AshtechGps::processRecord() - $GPGGA,202357.00,3648.67780,N,12158.31250,W,1,11,0.8,0.11,M,-33.02,M,,*55 : NMEA Update: $GPGGA,202356.78,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*53 : AshtechGps::processRecord() - $GPGGA,202358.00,3648.67751,N,12158.31236,W,1,11,0.8,0.37,M,-33.02,M,,*52 : NMEA Update: $GPGGA,202357.78,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*52 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202359.00,3648.67756,N,12158.31222,W,1,11,0.8,0.37,M,-33.02,M,,*51 : NMEA Update: $GPGGA,202358.78,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5d : AshtechGps::processRecord() - $GPGGA,202400.00,3648.67733,N,12158.31210,W,1,11,0.8,-0.23,M,-33.02,M,,*70 : NMEA Update: $GPGGA,202359.78,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5c : AshtechGps::processRecord() - $GPGGA,202401.00,3648.67725,N,12158.31212,W,1,11,0.8,-0.29,M,-33.02,M,,*7E : NMEA Update: $GPGGA,202400.78,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : AshtechGps::processRecord() - $GPGGA,202402.00,3648.67730,N,12158.31249,W,1,11,0.8,-0.89,M,-33.02,M,,*7D : NMEA Update: $GPGGA,202401.78,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202403.00,3648.67696,N,12158.31229,W,1,11,0.8,-0.12,M,-33.02,M,,*75 : NMEA Update: $GPGGA,202402.78,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*55 : AshtechGps::processRecord() - $GPGGA,202404.00,3648.67695,N,12158.31230,W,1,11,0.8,-0.22,M,-33.02,M,,*7A : NMEA Update: $GPGGA,202403.78,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*54 : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : AshtechGps::processRecord() - $GPGGA,202405.00,3648.67670,N,12158.31216,W,1,11,0.8,-0.17,M,-33.02,M,,*72 : NMEA Update: $GPGGA,202404.78,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*53 : AshtechGps::processRecord() - $GPGGA,202406.00,3648.67648,N,12158.31195,W,1,11,0.8,0.00,M,-33.02,M,,*59 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202405.78,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*52 : AshtechGps::processRecord() - $GPGGA,202407.00,3648.67625,N,12158.31209,W,1,11,0.8,-0.20,M,-33.02,M,,*7A : NMEA Update: $GPGGA,202406.78,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*51 : AshtechGps::processRecord() - $GPGGA,202408.00,3648.67595,N,12158.31174,W,1,11,0.8,0.16,M,-33.02,M,,*5C : NMEA Update: $GPGGA,202407.78,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*50 : AshtechGps::processRecord() - $GPGGA,202409.00,3648.67580,N,12158.31135,W,1,11,0.8,0.08,M,-33.02,M,,*53 : NMEA Update: $GPGGA,202408.78,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202410.00,3648.67574,N,12158.31120,W,1,11,0.8,-0.24,M,-33.02,M,,*77 : NMEA Update: $GPGGA,202409.78,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5e : AshtechGps::processRecord() - $GPGGA,202411.00,3648.67561,N,12158.31120,W,1,11,0.8,-0.35,M,-33.02,M,,*72 : NMEA Update: $GPGGA,202410.78,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : AshtechGps::processRecord() - $GPGGA,202412.00,3648.67542,N,12158.31109,W,1,11,0.8,0.49,M,-33.02,M,,*5D : NMEA Update: $GPGGA,202411.78,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : AshtechGps::processRecord() - $GPGGA,202413.00,3648.67533,N,12158.31115,W,1,11,0.8,0.61,M,-33.02,M,,*5D : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202412.78,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*54 : AshtechGps::processRecord() - $GPGGA,202414.00,3648.67508,N,12158.31095,W,1,11,0.8,0.99,M,-33.02,M,,*5C : NMEA Update: $GPGGA,202413.78,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*55 : Navigation: Server for aux sensor "Altimeter" not found : Navigation: Server for aux sensor "Velocimeter" not found : Navigation: The utm zone is 10 : Navigation: The lat/long in workSite.cfg, 36.812000, -121.968990 : Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4074513.00, 591962.00 : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : **** EventTriggers::add() - attaching proxy : GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed : LayeredControl::execute() -- (t = 0.000000) Behavior getgps:-1 has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior depthEnvelope:-1 has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer:-1 has changed to state Active : **** EventTriggers::add() - attaching proxy : *** Mission started *** : AshtechGps::processRecord() - $GPGGA,202415.00,3648.67489,N,12158.31045,W,1,11,0.8,0.89,M,-33.02,M,,*59 : GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed : NMEA Update: $GPGGA,202414.78,3648.6749,N,-12158.3103,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,202416.00,3648.67439,N,12158.31037,W,1,11,0.8,0.97,M,-33.02,M,,*5B : GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202415.78,3648.6743,N,-12158.3104,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202417.00,3648.67442,N,12158.31023,W,1,11,0.8,0.49,M,-33.02,M,,*50 : GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed : NMEA Update: $GPGGA,202416.78,3648.6744,N,-12158.3102,W,1,03,00.5,079.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,202418.00,3648.67418,N,12158.31028,W,1,11,0.8,0.47,M,-33.02,M,,*55 : GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed : NMEA Update: $GPGGA,202417.78,3648.6742,N,-12158.3103,W,1,03,00.5,078.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,202419.00,3648.67418,N,12158.31035,W,1,11,0.8,0.76,M,-33.02,M,,*5A : GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed : NMEA Update: $GPGGA,202418.78,3648.6742,N,-12158.3104,W,1,03,00.5,079.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202420.00,3648.67381,N,12158.31019,W,1,11,0.8,0.79,M,-33.02,M,,*56 : 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 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202419.78,3648.6738,N,-12158.3101,W,1,03,00.5,079.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202421.00,3648.67367,N,12158.31006,W,1,11,0.8,-0.07,M,-33.02,M,,*75 : GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed : NMEA Update: $GPGGA,202420.78,3648.6736,N,-12158.3100,W,1,03,00.5,080.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,202422.00,3648.67327,N,12158.30972,W,1,11,0.8,-0.12,M,-33.02,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed : NMEA Update: $GPGGA,202421.78,3648.6732,N,-12158.3097,W,1,03,00.5,080.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202423.00,3648.67328,N,12158.30972,W,1,11,0.8,-0.19,M,-33.02,M,,*78 : GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed : LayeredControl::execute() -- (t = 8.199438) Behavior getgps:-1 has changed to state Finished : LayeredControl::execute() -- (t = 8.199438) Behavior setpoint:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202422.78,3648.6733,N,-12158.3098,W,1,03,00.5,078.7,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202424.00,3648.67339,N,12158.31002,W,1,11,0.8,-0.21,M,-33.02,M,,*7B : NMEA Update: $GPGGA,202423.78,3648.6734,N,-12158.3101,W,1,03,00.5,078.7,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,202425.00,3648.67313,N,12158.30993,W,1,11,0.8,0.55,M,-33.02,M,,*5C : NMEA Update: $GPGGA,202424.78,3648.6731,N,-12158.3100,W,1,03,00.5,078.9,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,202426.00,3648.67304,N,12158.30982,W,1,11,0.8,1.04,M,-33.02,M,,*5C : NMEA Update: $GPGGA,202425.78,3648.6730,N,-12158.3098,W,1,03,00.5,077.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202427.00,3648.67275,N,12158.30940,W,1,11,0.8,1.41,M,-33.02,M,,*55 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202426.78,3648.6727,N,-12158.3093,W,1,03,00.5,080.7,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202428.00,3648.67259,N,12158.30894,W,1,11,0.8,0.97,M,-33.02,M,,*56 : NMEA Update: $GPGGA,202427.78,3648.6725,N,-12158.3088,W,1,03,00.5,080.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202429.00,3648.67217,N,12158.30857,W,1,11,0.8,1.08,M,-33.02,M,,*55 : NMEA Update: $GPGGA,202428.78,3648.6721,N,-12158.3085,W,1,03,00.5,080.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202430.00,3648.67210,N,12158.30834,W,1,11,0.8,1.04,M,-33.02,M,,*53 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202429.78,3648.6721,N,-12158.3083,W,1,03,00.5,079.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202431.00,3648.67193,N,12158.30794,W,1,11,0.8,0.64,M,-33.02,M,,*58 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202430.78,3648.6719,N,-12158.3078,W,1,03,00.5,079.9,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,202432.00,3648.67181,N,12158.30767,W,1,11,0.8,0.06,M,-33.02,M,,*50 : NMEA Update: $GPGGA,202431.78,3648.6718,N,-12158.3076,W,1,03,00.5,080.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202433.00,3648.67197,N,12158.30767,W,1,11,0.8,-0.20,M,-33.02,M,,*7F : NMEA Update: $GPGGA,202432.78,3648.6720,N,-12158.3077,W,1,03,00.5,079.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202434.00,3648.67199,N,12158.30757,W,1,11,0.8,0.11,M,-33.02,M,,*5A : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202433.78,3648.6720,N,-12158.3076,W,1,03,00.5,076.9,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202435.00,3648.67196,N,12158.30721,W,1,11,0.8,1.28,M,-33.02,M,,*5E : NMEA Update: $GPGGA,202434.78,3648.6720,N,-12158.3072,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,202436.00,3648.67167,N,12158.30605,W,1,11,0.8,1.69,M,-33.02,M,,*51 : NMEA Update: $GPGGA,202435.78,3648.6716,N,-12158.3059,W,1,03,00.5,079.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202437.00,3648.67178,N,12158.30512,W,1,11,0.8,1.03,M,-33.02,M,,*57 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202436.78,3648.6717,N,-12158.3049,W,1,03,00.5,076.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202438.00,3648.67188,N,12158.30503,W,1,11,0.8,0.35,M,-33.02,M,,*53 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202437.78,3648.6719,N,-12158.3049,W,1,03,00.5,084.1,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,202439.00,3648.67189,N,12158.30433,W,1,10,0.9,1.09,M,-33.02,M,,*5F : NMEA Update: $GPGGA,202438.78,3648.6720,N,-12158.3043,W,1,03,00.5,077.8,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202440.00,3648.67209,N,12158.30386,W,1,10,0.9,0.83,M,-33.02,M,,*50 : NMEA Update: $GPGGA,202439.78,3648.6721,N,-12158.3038,W,1,03,00.5,081.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202441.00,3648.67225,N,12158.30339,W,1,10,0.9,0.75,M,-33.02,M,,*52 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202440.78,3648.6723,N,-12158.3033,W,1,03,00.5,082.6,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202442.00,3648.67253,N,12158.30310,W,1,11,0.8,0.82,M,-33.02,M,,*53 : NMEA Update: $GPGGA,202441.78,3648.6726,N,-12158.3031,W,1,03,00.5,078.8,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,202443.00,3648.67276,N,12158.30257,W,1,11,0.8,0.71,M,-33.02,M,,*5B : NMEA Update: $GPGGA,202442.78,3648.6728,N,-12158.3025,W,1,03,00.5,079.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202444.00,3648.67306,N,12158.30239,W,1,11,0.8,0.60,M,-33.02,M,,*52 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202443.78,3648.6731,N,-12158.3023,W,1,03,00.5,079.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202445.00,3648.67339,N,12158.30190,W,1,11,0.8,0.66,M,-33.02,M,,*59 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202444.78,3648.6734,N,-12158.3019,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,202446.00,3648.67395,N,12158.30196,W,1,11,0.8,-0.07,M,-33.02,M,,*70 : NMEA Update: $GPGGA,202445.78,3648.6741,N,-12158.3019,W,1,03,00.5,079.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202447.00,3648.67436,N,12158.30205,W,1,11,0.8,-0.09,M,-33.02,M,,*78 : NMEA Update: $GPGGA,202446.78,3648.6745,N,-12158.3020,W,1,03,00.5,079.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202448.00,3648.67487,N,12158.30130,W,1,10,0.8,2.85,M,-33.02,M,,*52 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202447.78,3648.6749,N,-12158.3013,W,1,03,00.5,078.8,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202449.00,3648.67493,N,12158.30193,W,1,11,0.8,1.59,M,-33.02,M,,*5C : NMEA Update: $GPGGA,202448.78,3648.6750,N,-12158.3019,W,1,03,00.5,077.7,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202450.00,3648.67539,N,12158.30150,W,1,11,0.8,1.87,M,-33.02,M,,*59 : NMEA Update: $GPGGA,202449.78,3648.6755,N,-12158.3015,W,1,03,00.5,078.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202451.00,3648.67608,N,12158.30206,W,1,11,0.8,-0.06,M,-33.02,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202450.78,3648.6761,N,-12158.3020,W,1,03,00.5,078.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202452.00,3648.67662,N,12158.30205,W,1,11,0.8,-0.34,M,-33.02,M,,*71 : NMEA Update: $GPGGA,202451.78,3648.6767,N,-12158.3021,W,1,03,00.5,079.6,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : PeriodicTask::run() (terrainAidDriver) - sampleInterval=3000, maxInterval=3000 : AshtechGps::processRecord() - $GPGGA,202453.00,3648.67715,N,12158.30216,W,1,11,0.8,-0.54,M,-33.02,M,,*75 : Behavior setpoint - Timed out! : LayeredControl::execute() -- (t = 38.397369) Behavior setpoint:-1 has changed to state Finished : LayeredControl::execute() -- (t = 38.397369) Behavior descend:-1 has changed to state Active : NMEA Update: $GPGGA,202452.78,3648.6772,N,-12158.3022,W,1,03,00.5,081.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202454.00,3648.67754,N,12158.30258,W,1,11,0.8,-0.59,M,-33.02,M,,*70 : NMEA Update: $GPGGA,202453.78,3648.6776,N,-12158.3027,W,1,03,00.5,081.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202455.00,3648.67801,N,12158.30298,W,1,11,0.8,-0.17,M,-33.02,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202454.78,3648.6781,N,-12158.3031,W,1,03,00.5,079.0,M,-99.9,M,,*4a : TerrainAidDriver:: _navTime0 = 1279571094.95 : TerrainAidDriver:: _dvlTime0 = 73493.67 : TerrainNav update at nav time = 0.000000 : TerrainNav update at dvl time = 0.000000 : _navData-> (x,y) = (4074432.94, 591719.43) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202456.00,3648.67839,N,12158.30346,W,1,11,0.8,0.08,M,-33.02,M,,*51 : Estimated North Bias at time = 0.00 : -4074432.94 : Estimated East Bias at time = 0.00 : -591719.43 : Estimated Depth Bias at time = 0.00 : 0.02 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202455.78,3648.6785,N,-12158.3035,W,1,03,00.5,078.8,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,202457.00,3648.67876,N,12158.30369,W,1,11,0.8,0.52,M,-33.02,M,,*59 : NMEA Update: $GPGGA,202456.78,3648.6788,N,-12158.3038,W,1,03,00.5,079.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202458.00,3648.67895,N,12158.30395,W,1,11,0.8,0.49,M,-33.02,M,,*52 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202457.78,3648.6790,N,-12158.3040,W,1,03,00.5,079.6,M,-99.9,M,,*49 : TerrainNav update at nav time = 2.999794 : TerrainNav update at dvl time = 2.999794 : _navData-> (x,y) = (4074434.57, 591718.07) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202459.00,3648.67895,N,12158.30426,W,1,11,0.8,-0.35,M,-33.02,M,,*7A : Estimated North Bias at time = 0.00 : -4074434.57 : Estimated East Bias at time = 0.00 : -591718.07 : Estimated Depth Bias at time = 0.00 : -0.06 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202458.78,3648.6790,N,-12158.3043,W,1,03,00.5,080.6,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202500.00,3648.67913,N,12158.30509,W,1,11,0.8,-1.02,M,-33.02,M,,*71 : NMEA Update: $GPGGA,202459.78,3648.6792,N,-12158.3052,W,1,03,00.5,079.6,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,202501.00,3648.67938,N,12158.30598,W,1,11,0.8,-0.79,M,-33.02,M,,*7C : NMEA Update: $GPGGA,202500.78,3648.6794,N,-12158.3062,W,1,03,00.5,077.2,M,-99.9,M,,*44 : TerrainNav update at nav time = 5.999589 : TerrainNav update at dvl time = 5.999589 : _navData-> (x,y) = (4074435.33, 591714.89) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202502.00,3648.67943,N,12158.30681,W,1,11,0.8,-0.67,M,-33.02,M,,*77 : Estimated North Bias at time = 0.00 : -4074435.33 : Estimated East Bias at time = 0.00 : -591714.89 : Estimated Depth Bias at time = 0.00 : 0.02 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202501.78,3648.6794,N,-12158.3070,W,1,03,00.5,077.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202503.00,3648.67963,N,12158.30750,W,1,11,0.8,-0.56,M,-33.02,M,,*7B : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202502.78,3648.6797,N,-12158.3076,W,1,03,00.5,078.8,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,202504.00,3648.67979,N,12158.30799,W,1,11,0.8,-0.21,M,-33.02,M,,*72 : NMEA Update: $GPGGA,202503.78,3648.6798,N,-12158.3081,W,1,03,00.5,078.6,M,-99.9,M,,*4d : TerrainNav update at nav time = 8.999383 : TerrainNav update at dvl time = 8.999383 : _navData-> (x,y) = (4074436.05, 591711.97) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202505.00,3648.67987,N,12158.30871,W,1,11,0.8,0.05,M,-33.02,M,,*50 : Estimated North Bias at time = 0.00 : -4074436.05 : Estimated East Bias at time = 0.00 : -591711.97 : Estimated Depth Bias at time = 0.00 : -0.18 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202504.78,3648.6799,N,-12158.3088,W,1,03,00.5,077.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202506.00,3648.67980,N,12158.30942,W,1,11,0.8,-0.09,M,-33.02,M,,*74 : NMEA Update: $GPGGA,202505.78,3648.6798,N,-12158.3095,W,1,03,00.5,077.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202507.00,3648.67959,N,12158.30981,W,1,11,0.8,-0.13,M,-33.02,M,,*75 : NMEA Update: $GPGGA,202506.78,3648.6796,N,-12158.3099,W,1,03,00.5,074.7,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 = 11.999178 : TerrainNav update at dvl time = 11.999178 : _navData-> (x,y) = (4074435.63, 591709.29) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202508.00,,,,,0,02,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : **** EventTriggers::add() - attaching proxy : Estimated North Bias at time = 0.00 : -4074435.63 : Estimated East Bias at time = 0.00 : -591709.29 : Estimated Depth Bias at time = 0.00 : -0.57 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202507.78,3648.6796,N,-12158.3102,W,1,03,00.5,077.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202509.00,,,,,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,202508.78,3648.6797,N,-12158.3107,W,1,03,00.5,082.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202510.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202509.78,3648.6799,N,-12158.3115,W,1,03,00.5,076.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : TerrainNav update at nav time = 14.998972 : TerrainNav update at dvl time = 14.998972 : _navData-> (x,y) = (4074436.24, 591706.52) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202511.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074436.24 : Estimated East Bias at time = 0.00 : -591706.52 : Estimated Depth Bias at time = 0.00 : -1.42 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202510.78,3648.6800,N,-12158.3121,W,1,03,00.5,078.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202512.00,,,,,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,202511.78,3648.6802,N,-12158.3126,W,1,03,00.5,080.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202513.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202512.78,3648.6803,N,-12158.3132,W,1,03,00.5,079.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 17.998767 : TerrainNav update at dvl time = 17.998767 : _navData-> (x,y) = (4074437.02, 591704.06) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202514.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074437.02 : Estimated East Bias at time = 0.00 : -591704.06 : Estimated Depth Bias at time = 0.00 : -2.30 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202513.78,3648.6805,N,-12158.3138,W,1,03,00.5,077.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202515.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202514.78,3648.6806,N,-12158.3144,W,1,03,00.5,077.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202516.00,,,,,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,202515.78,3648.6807,N,-12158.3148,W,1,03,00.5,077.5,M,-99.9,M,,*4b : TerrainNav update at nav time = 20.998561 : TerrainNav update at dvl time = 20.998561 : _navData-> (x,y) = (4074437.68, 591701.82) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202517.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074437.68 : Estimated East Bias at time = 0.00 : -591701.82 : Estimated Depth Bias at time = 0.00 : -3.05 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202516.78,3648.6809,N,-12158.3153,W,1,03,00.5,078.1,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202518.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202517.78,3648.6810,N,-12158.3160,W,1,03,00.5,076.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202519.00,,,,,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,202518.78,3648.6812,N,-12158.3169,W,1,03,00.5,075.0,M,-99.9,M,,*46 : TerrainNav update at nav time = 23.998356 : TerrainNav update at dvl time = 23.998356 : _navData-> (x,y) = (4074438.60, 591698.43) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202520.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074438.60 : Estimated East Bias at time = 0.00 : -591698.43 : Estimated Depth Bias at time = 0.00 : -3.94 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202519.78,3648.6814,N,-12158.3177,W,1,03,00.5,076.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202521.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202520.77,3648.6816,N,-12158.3185,W,1,03,00.5,075.7,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,202522.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202521.77,3648.6818,N,-12158.3193,W,1,03,00.5,075.6,M,-99.9,M,,*4a : TerrainNav update at nav time = 26.998150 : TerrainNav update at dvl time = 26.998150 : _navData-> (x,y) = (4074439.72, 591694.80) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202523.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074439.72 : Estimated East Bias at time = 0.00 : -591694.80 : Estimated Depth Bias at time = 0.00 : -4.98 : Estimated northing and easting = 0.00 : 0.00 : Descend::execute() - Descend terminating on depth 5.080522 > 5.000000 at time 68.195328 : LayeredControl::execute() -- (t = 68.195328) Behavior descend:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 68.20 (wplog) The current location (N,E) = 4074439.8 , 591694.6 (wplog) The next waypoint = 4074786.1 , 591284.1 (wplog) The bearing to the next w.p. is 310.2 Degrees. : LayeredControl::execute() -- (t = 68.195328) Behavior waypoint:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=2 vert=70.42 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202522.77,3648.6820,N,-12158.3201,W,1,03,00.5,075.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202524.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202523.77,3648.6822,N,-12158.3208,W,1,03,00.5,075.3,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=70.98 horzlMode=3 horz=5.41 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,202524.77,3648.6824,N,-12158.3215,W,1,03,00.5,075.9,M,-99.9,M,,*42 : TerrainNav update at nav time = 29.997945 : TerrainNav update at dvl time = 29.997945 : _navData-> (x,y) = (4074440.88, 591691.58) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202526.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074440.88 : Estimated East Bias at time = 0.00 : -591691.58 : Estimated Depth Bias at time = 0.00 : -6.07 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=71.81 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202525.77,3648.6827,N,-12158.3222,W,1,03,00.5,075.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202527.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202526.77,3648.6831,N,-12158.3228,W,1,03,00.5,074.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=71.42 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202528.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202527.77,3648.6834,N,-12158.3236,W,1,03,00.5,074.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=69.65 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 32.997740 : TerrainNav update at dvl time = 32.997740 : _navData-> (x,y) = (4074442.79, 591688.45) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202529.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074442.79 : Estimated East Bias at time = 0.00 : -591688.45 : Estimated Depth Bias at time = 0.00 : -6.67 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202528.77,3648.6838,N,-12158.3244,W,1,03,00.5,073.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202530.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.22 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202529.77,3648.6843,N,-12158.3253,W,1,03,00.5,073.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202531.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202530.77,3648.6848,N,-12158.3262,W,1,03,00.5,072.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=69.77 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 35.997534 : TerrainNav update at dvl time = 35.997534 : _navData-> (x,y) = (4074445.31, 591684.63) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202532.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074445.31 : Estimated East Bias at time = 0.00 : -591684.63 : Estimated Depth Bias at time = 0.00 : -6.88 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202531.77,3648.6853,N,-12158.3268,W,1,03,00.5,072.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202533.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=69.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202532.77,3648.6857,N,-12158.3273,W,1,03,00.5,072.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202534.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202533.77,3648.6862,N,-12158.3279,W,1,03,00.5,072.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=69.78 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 38.997329 : TerrainNav update at dvl time = 38.997329 : _navData-> (x,y) = (4074447.79, 591682.05) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202535.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074447.79 : Estimated East Bias at time = 0.00 : -591682.05 : Estimated Depth Bias at time = 0.00 : -7.38 : Estimated northing and easting = 0.00 : 0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202534.77,3648.6866,N,-12158.3285,W,1,03,00.5,071.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=68.55 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202536.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202535.77,3648.6870,N,-12158.3292,W,1,03,00.5,070.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202537.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=68.41 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202536.77,3648.6874,N,-12158.3299,W,1,03,00.5,069.9,M,-99.9,M,,*4d : TerrainNav update at nav time = 41.997123 : TerrainNav update at dvl time = 41.997123 : _navData-> (x,y) = (4074450.03, 591679.12) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202538.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074450.03 : Estimated East Bias at time = 0.00 : -591679.12 : Estimated Depth Bias at time = 0.00 : -8.82 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202537.77,3648.6878,N,-12158.3305,W,1,03,00.5,070.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=70.63 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202539.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202538.77,3648.6882,N,-12158.3310,W,1,03,00.5,071.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202540.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.41 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202539.77,3648.6887,N,-12158.3316,W,1,03,00.5,070.1,M,-99.9,M,,*48 : TerrainNav update at nav time = 44.996917 : TerrainNav update at dvl time = 44.996917 : _navData-> (x,y) = (4074452.39, 591676.57) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202541.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074452.39 : Estimated East Bias at time = 0.00 : -591676.57 : Estimated Depth Bias at time = 0.00 : -10.77 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202540.77,3648.6891,N,-12158.3321,W,1,03,00.5,069.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=71.01 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202542.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202541.77,3648.6896,N,-12158.3326,W,1,03,00.5,069.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=72.54 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202543.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202542.77,3648.6900,N,-12158.3330,W,1,03,00.5,069.4,M,-99.9,M,,*43 : TerrainNav update at nav time = 47.996712 : TerrainNav update at dvl time = 47.996712 : _navData-> (x,y) = (4074454.79, 591674.35) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202544.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074454.79 : Estimated East Bias at time = 0.00 : -591674.35 : Estimated Depth Bias at time = 0.00 : -12.73 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=72.43 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202543.77,3648.6905,N,-12158.3336,W,1,03,00.5,069.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202545.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202544.77,3648.6910,N,-12158.3344,W,1,03,00.5,067.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=71.05 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202546.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202545.77,3648.6915,N,-12158.3351,W,1,03,00.5,066.6,M,-99.9,M,,*4a : TerrainNav update at nav time = 50.996506 : TerrainNav update at dvl time = 50.996506 : _navData-> (x,y) = (4074457.56, 591671.31) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202547.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074457.56 : Estimated East Bias at time = 0.00 : -591671.31 : Estimated Depth Bias at time = 0.00 : -14.74 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=71.47 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202546.77,3648.6920,N,-12158.3356,W,1,03,00.5,066.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202548.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202547.77,3648.6924,N,-12158.3361,W,1,03,00.5,065.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=71.54 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202549.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202548.77,3648.6928,N,-12158.3366,W,1,03,00.5,065.7,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=72.30 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 53.996301 : TerrainNav update at dvl time = 53.996301 : _navData-> (x,y) = (4074459.95, 591669.15) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202550.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074459.95 : Estimated East Bias at time = 0.00 : -591669.15 : Estimated Depth Bias at time = 0.00 : -16.65 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202549.77,3648.6932,N,-12158.3370,W,1,03,00.5,065.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202551.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=73.55 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202550.77,3648.6937,N,-12158.3375,W,1,03,00.5,065.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202552.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202551.77,3648.6942,N,-12158.3381,W,1,03,00.5,065.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=73.72 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 56.996095 : TerrainNav update at dvl time = 56.996095 : _navData-> (x,y) = (4074462.52, 591666.73) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202553.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074462.52 : Estimated East Bias at time = 0.00 : -591666.73 : Estimated Depth Bias at time = 0.00 : -18.54 : Estimated northing and easting = 0.00 : 0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202552.77,3648.6947,N,-12158.3387,W,1,03,00.5,063.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202554.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=73.02 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202553.77,3648.6952,N,-12158.3393,W,1,03,00.5,062.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202555.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202554.77,3648.6957,N,-12158.3399,W,1,03,00.5,062.7,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=73.04 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 59.995890 : TerrainNav update at dvl time = 59.995890 : _navData-> (x,y) = (4074465.34, 591664.02) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202556.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074465.34 : Estimated East Bias at time = 0.00 : -591664.02 : Estimated Depth Bias at time = 0.00 : -20.59 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202555.77,3648.6962,N,-12158.3405,W,1,03,00.5,062.5,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=73.69 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202557.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202556.77,3648.6967,N,-12158.3410,W,1,03,00.5,061.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202558.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=72.98 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202557.77,3648.6971,N,-12158.3415,W,1,03,00.5,060.9,M,-99.9,M,,*45 : TerrainNav update at nav time = 62.995684 : TerrainNav update at dvl time = 62.995684 : _navData-> (x,y) = (4074467.89, 591661.73) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202559.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074467.89 : Estimated East Bias at time = 0.00 : -591661.73 : Estimated Depth Bias at time = 0.00 : -22.47 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202558.77,3648.6976,N,-12158.3420,W,1,03,00.5,060.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=73.47 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202600.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202559.77,3648.6981,N,-12158.3426,W,1,03,00.5,060.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202601.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=73.05 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202600.77,3648.6985,N,-12158.3432,W,1,03,00.5,059.3,M,-99.9,M,,*4a : TerrainNav update at nav time = 65.995479 : TerrainNav update at dvl time = 65.995479 : _navData-> (x,y) = (4074470.44, 591658.99) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202602.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074470.44 : Estimated East Bias at time = 0.00 : -591658.99 : Estimated Depth Bias at time = 0.00 : -24.30 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202601.77,3648.6990,N,-12158.3439,W,1,03,00.5,058.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=73.30 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202603.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202602.77,3648.6995,N,-12158.3446,W,1,03,00.5,058.2,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=73.15 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202604.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202603.77,3648.6999,N,-12158.3453,W,1,03,00.5,057.7,M,-99.9,M,,*49 : TerrainNav update at nav time = 68.995273 : TerrainNav update at dvl time = 68.995273 : _navData-> (x,y) = (4074472.96, 591655.98) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202605.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074472.96 : Estimated East Bias at time = 0.00 : -591655.98 : Estimated Depth Bias at time = 0.00 : -26.21 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=73.73 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202604.77,3648.7004,N,-12158.3459,W,1,03,00.5,057.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202606.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202605.77,3648.7008,N,-12158.3464,W,1,03,00.5,057.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=74.65 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202607.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202606.77,3648.7013,N,-12158.3470,W,1,03,00.5,056.4,M,-99.9,M,,*45 : TerrainNav update at nav time = 71.995068 : TerrainNav update at dvl time = 71.995068 : _navData-> (x,y) = (4074475.41, 591653.36) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202608.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074475.41 : Estimated East Bias at time = 0.00 : -591653.36 : Estimated Depth Bias at time = 0.00 : -28.07 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=74.58 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202607.77,3648.7017,N,-12158.3476,W,1,03,00.5,056.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202609.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202608.77,3648.7022,N,-12158.3482,W,1,03,00.5,055.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=74.67 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202610.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202609.77,3648.7027,N,-12158.3488,W,1,03,00.5,054.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=74.22 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 74.994863 : TerrainNav update at dvl time = 74.994863 : _navData-> (x,y) = (4074478.11, 591650.64) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202611.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074478.11 : Estimated East Bias at time = 0.00 : -591650.64 : Estimated Depth Bias at time = 0.00 : -29.94 : Estimated northing and easting = 0.00 : 0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202610.77,3648.7032,N,-12158.3494,W,1,03,00.5,053.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202612.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=74.30 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202611.77,3648.7037,N,-12158.3500,W,1,03,00.5,053.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202613.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202612.77,3648.7042,N,-12158.3507,W,1,03,00.5,053.3,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=74.98 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 77.994657 : TerrainNav update at dvl time = 77.994657 : _navData-> (x,y) = (4074480.74, 591647.85) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202614.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074480.74 : Estimated East Bias at time = 0.00 : -591647.85 : Estimated Depth Bias at time = 0.00 : -31.86 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202613.77,3648.7046,N,-12158.3513,W,1,03,00.5,053.1,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202615.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=74.79 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202614.77,3648.7051,N,-12158.3520,W,1,03,00.5,052.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202616.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202615.77,3648.7055,N,-12158.3526,W,1,03,00.5,051.9,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 80.994452 : TerrainNav update at dvl time = 80.994452 : _navData-> (x,y) = (4074483.15, 591644.91) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202617.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074483.15 : Estimated East Bias at time = 0.00 : -591644.91 : Estimated Depth Bias at time = 0.00 : -33.84 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202616.58,3648.7058,N,-12158.3531,W,1,03,00.5,051.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202618.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202617.58,3648.7063,N,-12158.3538,W,1,03,00.5,051.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202619.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202618.58,3648.7067,N,-12158.3544,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 83.994246 : TerrainNav update at dvl time = 83.994246 : _navData-> (x,y) = (4074485.47, 591641.93) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202620.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074485.47 : Estimated East Bias at time = 0.00 : -591641.93 : Estimated Depth Bias at time = 0.00 : -35.89 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202619.58,3648.7071,N,-12158.3551,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202621.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202620.58,3648.7075,N,-12158.3558,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202622.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202621.58,3648.7080,N,-12158.3565,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : TerrainNav update at nav time = 86.994040 : TerrainNav update at dvl time = 86.994040 : _navData-> (x,y) = (4074487.82, 591638.84) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202623.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074487.82 : Estimated East Bias at time = 0.00 : -591638.84 : Estimated Depth Bias at time = 0.00 : -37.85 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202622.58,3648.7084,N,-12158.3572,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202624.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202623.58,3648.7088,N,-12158.3578,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202625.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202624.58,3648.7093,N,-12158.3585,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 89.993835 : TerrainNav update at dvl time = 89.993835 : _navData-> (x,y) = (4074490.17, 591635.86) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202626.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074490.17 : Estimated East Bias at time = 0.00 : -591635.86 : Estimated Depth Bias at time = 0.00 : -39.78 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202625.58,3648.7097,N,-12158.3592,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202627.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202626.58,3648.7101,N,-12158.3599,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202628.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202627.58,3648.7106,N,-12158.3606,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 92.993629 : TerrainNav update at dvl time = 92.993629 : _navData-> (x,y) = (4074492.54, 591632.76) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202629.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074492.54 : Estimated East Bias at time = 0.00 : -591632.76 : Estimated Depth Bias at time = 0.00 : -41.75 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202628.58,3648.7110,N,-12158.3612,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,202630.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202629.58,3648.7114,N,-12158.3619,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202631.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202630.58,3648.7118,N,-12158.3625,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 95.993424 : TerrainNav update at dvl time = 95.993424 : _navData-> (x,y) = (4074494.78, 591629.79) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202632.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074494.78 : Estimated East Bias at time = 0.00 : -591629.79 : Estimated Depth Bias at time = 0.00 : -43.76 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202631.58,3648.7122,N,-12158.3632,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202633.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202632.58,3648.7126,N,-12158.3639,W,1,03,00.5,041.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202634.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202633.58,3648.7130,N,-12158.3646,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 98.993218 : TerrainNav update at dvl time = 98.993218 : _navData-> (x,y) = (4074497.03, 591626.77) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202635.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074497.03 : Estimated East Bias at time = 0.00 : -591626.77 : Estimated Depth Bias at time = 0.00 : -45.76 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202634.58,3648.7134,N,-12158.3652,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,202636.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202635.58,3648.7139,N,-12158.3659,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,202637.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202636.58,3648.7143,N,-12158.3666,W,1,03,00.5,038.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 101.993013 : TerrainNav update at dvl time = 101.993013 : _navData-> (x,y) = (4074499.33, 591623.81) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202638.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074499.33 : Estimated East Bias at time = 0.00 : -591623.81 : Estimated Depth Bias at time = 0.00 : -47.67 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202637.58,3648.7147,N,-12158.3672,W,1,03,00.5,037.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202639.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202638.58,3648.7152,N,-12158.3678,W,1,03,00.5,038.1,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202640.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202639.58,3648.7156,N,-12158.3685,W,1,03,00.5,036.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 105.002807 : TerrainNav update at dvl time = 105.002807 : _navData-> (x,y) = (4074501.75, 591620.96) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202641.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074501.75 : Estimated East Bias at time = 0.00 : -591620.96 : Estimated Depth Bias at time = 0.00 : -49.66 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202640.58,3648.7160,N,-12158.3691,W,1,03,00.5,036.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202642.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202641.58,3648.7165,N,-12158.3697,W,1,03,00.5,035.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202643.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202642.58,3648.7169,N,-12158.3703,W,1,03,00.5,035.6,M,-99.9,M,,*44 : TerrainNav update at nav time = 108.002601 : TerrainNav update at dvl time = 108.002601 : _navData-> (x,y) = (4074504.13, 591618.16) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202644.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074504.13 : Estimated East Bias at time = 0.00 : -591618.16 : Estimated Depth Bias at time = 0.00 : -51.47 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202643.58,3648.7173,N,-12158.3710,W,1,03,00.5,034.7,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202645.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202644.58,3648.7178,N,-12158.3716,W,1,03,00.5,034.7,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202646.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202645.58,3648.7182,N,-12158.3723,W,1,03,00.5,033.7,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 111.002396 : TerrainNav update at dvl time = 111.002396 : _navData-> (x,y) = (4074506.55, 591615.24) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202647.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074506.55 : Estimated East Bias at time = 0.00 : -591615.24 : Estimated Depth Bias at time = 0.00 : -53.30 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202646.58,3648.7187,N,-12158.3729,W,1,03,00.5,033.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202648.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202647.58,3648.7191,N,-12158.3736,W,1,03,00.5,032.8,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202649.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202648.58,3648.7196,N,-12158.3742,W,1,03,00.5,032.0,M,-99.9,M,,*4a : TerrainNav update at nav time = 114.002190 : TerrainNav update at dvl time = 114.002190 : _navData-> (x,y) = (4074508.99, 591612.34) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202650.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074508.99 : Estimated East Bias at time = 0.00 : -591612.34 : Estimated Depth Bias at time = 0.00 : -55.22 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202649.58,3648.7200,N,-12158.3748,W,1,03,00.5,032.1,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202651.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202650.58,3648.7205,N,-12158.3755,W,1,03,00.5,030.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202652.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202651.58,3648.7209,N,-12158.3761,W,1,03,00.5,030.9,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 117.001985 : TerrainNav update at dvl time = 117.001985 : _navData-> (x,y) = (4074511.51, 591609.48) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202653.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074511.51 : Estimated East Bias at time = 0.00 : -591609.48 : Estimated Depth Bias at time = 0.00 : -57.10 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202652.58,3648.7214,N,-12158.3768,W,1,03,00.5,030.2,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202654.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202653.58,3648.7219,N,-12158.3774,W,1,03,00.5,030.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202655.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202654.58,3648.7223,N,-12158.3780,W,1,03,00.5,028.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 120.001779 : TerrainNav update at dvl time = 120.001779 : _navData-> (x,y) = (4074514.06, 591606.61) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202656.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074514.06 : Estimated East Bias at time = 0.00 : -591606.61 : Estimated Depth Bias at time = 0.00 : -59.04 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202655.58,3648.7228,N,-12158.3787,W,1,03,00.5,028.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202657.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202656.58,3648.7232,N,-12158.3793,W,1,03,00.5,028.3,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202658.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202657.58,3648.7237,N,-12158.3799,W,1,03,00.5,027.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 123.001574 : TerrainNav update at dvl time = 123.001574 : _navData-> (x,y) = (4074516.54, 591603.81) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202659.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074516.54 : Estimated East Bias at time = 0.00 : -591603.81 : Estimated Depth Bias at time = 0.00 : -61.00 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202658.58,3648.7242,N,-12158.3805,W,1,03,00.5,027.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202700.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202659.58,3648.7246,N,-12158.3811,W,1,03,00.5,026.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202701.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202700.58,3648.7251,N,-12158.3817,W,1,03,00.5,026.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 126.001368 : TerrainNav update at dvl time = 126.001368 : _navData-> (x,y) = (4074519.07, 591601.04) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202702.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074519.07 : Estimated East Bias at time = 0.00 : -591601.04 : Estimated Depth Bias at time = 0.00 : -63.00 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202701.58,3648.7255,N,-12158.3824,W,1,03,00.5,025.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202703.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202702.58,3648.7260,N,-12158.3830,W,1,03,00.5,024.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202704.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202703.58,3648.7265,N,-12158.3836,W,1,03,00.5,023.9,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 129.001163 : TerrainNav update at dvl time = 129.001163 : _navData-> (x,y) = (4074521.62, 591598.30) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202705.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074521.62 : Estimated East Bias at time = 0.00 : -591598.30 : Estimated Depth Bias at time = 0.00 : -64.99 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202704.58,3648.7269,N,-12158.3842,W,1,03,00.5,023.7,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202706.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202705.58,3648.7274,N,-12158.3848,W,1,03,00.5,022.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202707.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202706.58,3648.7279,N,-12158.3854,W,1,03,00.5,022.3,M,-99.9,M,,*49 : TerrainNav update at nav time = 132.000957 : TerrainNav update at dvl time = 132.000957 : _navData-> (x,y) = (4074524.14, 591595.64) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202708.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074524.14 : Estimated East Bias at time = 0.00 : -591595.64 : Estimated Depth Bias at time = 0.00 : -66.99 : Estimated northing and easting = 0.00 : 0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202707.58,3648.7283,N,-12158.3860,W,1,03,00.5,013.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=70.62 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202709.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202708.58,3648.7288,N,-12158.3866,W,1,03,00.5,021.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202710.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202709.58,3648.7292,N,-12158.3872,W,1,03,00.5,020.5,M,-99.9,M,,*43 : TerrainNav update at nav time = 135.000752 : TerrainNav update at dvl time = 135.000752 : _navData-> (x,y) = (4074526.62, 591592.89) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202711.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074526.62 : Estimated East Bias at time = 0.00 : -591592.89 : Estimated Depth Bias at time = 0.00 : -68.90 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202710.58,3648.7297,N,-12158.3878,W,1,03,00.5,020.1,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202712.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202711.58,3648.7301,N,-12158.3884,W,1,03,00.5,019.8,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202713.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202712.58,3648.7306,N,-12158.3890,W,1,03,00.5,019.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 138.000546 : TerrainNav update at dvl time = 138.000546 : _navData-> (x,y) = (4074529.11, 591590.16) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202714.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074529.11 : Estimated East Bias at time = 0.00 : -591590.16 : Estimated Depth Bias at time = 0.00 : -70.82 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202713.58,3648.7310,N,-12158.3896,W,1,03,00.5,018.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202715.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202714.58,3648.7315,N,-12158.3902,W,1,03,00.5,018.3,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202716.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202715.58,3648.7319,N,-12158.3908,W,1,03,00.5,018.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 141.000341 : TerrainNav update at dvl time = 141.000341 : _navData-> (x,y) = (4074531.57, 591587.39) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202717.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074531.57 : Estimated East Bias at time = 0.00 : -591587.39 : Estimated Depth Bias at time = 0.00 : -72.76 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202716.58,3648.7324,N,-12158.3915,W,1,03,00.5,017.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202718.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202717.58,3648.7328,N,-12158.3921,W,1,03,00.5,017.2,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202719.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202718.58,3648.7333,N,-12158.3927,W,1,03,00.5,016.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 144.000135 : TerrainNav update at dvl time = 144.000135 : _navData-> (x,y) = (4074534.13, 591584.49) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202720.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074534.13 : Estimated East Bias at time = 0.00 : -591584.49 : Estimated Depth Bias at time = 0.00 : -74.44 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202719.58,3648.7338,N,-12158.3934,W,1,03,00.5,015.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202721.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202720.58,3648.7343,N,-12158.3941,W,1,03,00.5,015.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202722.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202721.58,3648.7348,N,-12158.3947,W,1,03,00.5,015.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 146.999930 : TerrainNav update at dvl time = 146.999930 : _navData-> (x,y) = (4074536.82, 591581.49) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202723.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074536.82 : Estimated East Bias at time = 0.00 : -591581.49 : Estimated Depth Bias at time = 0.00 : -75.54 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202722.58,3648.7353,N,-12158.3954,W,1,03,00.5,015.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202724.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202723.58,3648.7358,N,-12158.3961,W,1,03,00.5,014.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202725.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202724.58,3648.7362,N,-12158.3967,W,1,03,00.5,014.6,M,-99.9,M,,*43 : TerrainNav update at nav time = 149.999724 : TerrainNav update at dvl time = 149.999724 : _navData-> (x,y) = (4074539.48, 591578.45) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202726.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 0.00 : -4074539.48 : Estimated East Bias at time = 0.00 : -591578.45 : Estimated Depth Bias at time = 0.00 : -76.04 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202725.58,3648.7367,N,-12158.3974,W,1,03,00.5,014.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202727.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202726.58,3648.7372,N,-12158.3982,W,1,03,00.5,014.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202728.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202727.58,3648.7377,N,-12158.3989,W,1,03,00.5,014.2,M,-99.9,M,,*40 : TerrainNav update at nav time = 152.999519 : TerrainNav update at dvl time = 152.999519 : _navData-> (x,y) = (4074542.10, 591575.21) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202729.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074542.10 : Estimated East Bias at time = 0.00 : -591575.21 : Estimated Depth Bias at time = 0.00 : -76.17 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202728.58,3648.7381,N,-12158.3996,W,1,03,00.5,014.2,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202730.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202729.58,3648.7386,N,-12158.4004,W,1,03,00.5,014.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202731.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202730.58,3648.7391,N,-12158.4011,W,1,03,00.5,014.2,M,-99.9,M,,*41 : TerrainNav update at nav time = 155.999313 : TerrainNav update at dvl time = 155.999313 : _navData-> (x,y) = (4074544.67, 591571.89) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202732.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074544.67 : Estimated East Bias at time = 0.00 : -591571.89 : Estimated Depth Bias at time = 0.00 : -76.28 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202731.58,3648.7396,N,-12158.4018,W,1,03,00.5,014.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202733.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202732.58,3648.7400,N,-12158.4026,W,1,03,00.5,014.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202734.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202733.58,3648.7405,N,-12158.4033,W,1,03,00.5,014.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 158.999108 : TerrainNav update at dvl time = 158.999108 : _navData-> (x,y) = (4074547.23, 591568.56) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202735.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074547.23 : Estimated East Bias at time = 0.00 : -591568.56 : Estimated Depth Bias at time = 0.00 : -76.32 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202734.58,3648.7410,N,-12158.4041,W,1,03,00.5,014.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202736.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202735.58,3648.7414,N,-12158.4048,W,1,03,00.5,014.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202737.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202736.58,3648.7419,N,-12158.4056,W,1,03,00.5,014.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 161.998902 : TerrainNav update at dvl time = 161.998902 : _navData-> (x,y) = (4074549.80, 591565.16) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202738.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074549.80 : Estimated East Bias at time = 0.00 : -591565.16 : Estimated Depth Bias at time = 0.00 : -76.38 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202737.58,3648.7424,N,-12158.4063,W,1,03,00.5,014.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202739.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202738.58,3648.7428,N,-12158.4071,W,1,03,00.5,014.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202740.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202739.58,3648.7433,N,-12158.4078,W,1,03,00.5,014.2,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 164.998697 : TerrainNav update at dvl time = 164.998697 : _navData-> (x,y) = (4074552.37, 591561.78) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202741.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074552.37 : Estimated East Bias at time = 0.00 : -591561.78 : Estimated Depth Bias at time = 0.00 : -76.40 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202740.58,3648.7438,N,-12158.4086,W,1,03,00.5,014.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202742.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202741.58,3648.7442,N,-12158.4093,W,1,03,00.5,014.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202743.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202742.58,3648.7447,N,-12158.4101,W,1,03,00.5,014.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 167.998491 : TerrainNav update at dvl time = 167.998491 : _navData-> (x,y) = (4074554.92, 591558.38) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202744.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074554.92 : Estimated East Bias at time = 0.00 : -591558.38 : Estimated Depth Bias at time = 0.00 : -76.40 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202743.58,3648.7452,N,-12158.4109,W,1,03,00.5,014.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202745.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202744.58,3648.7457,N,-12158.4116,W,1,03,00.5,014.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202746.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202745.58,3648.7461,N,-12158.4124,W,1,03,00.5,014.5,M,-99.9,M,,*4b : TerrainNav update at nav time = 170.998286 : TerrainNav update at dvl time = 170.998286 : _navData-> (x,y) = (4074557.54, 591554.96) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202747.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074557.54 : Estimated East Bias at time = 0.00 : -591554.96 : Estimated Depth Bias at time = 0.00 : -76.36 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202746.57,3648.7466,N,-12158.4131,W,1,03,00.5,014.5,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202748.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202747.57,3648.7471,N,-12158.4139,W,1,03,00.5,014.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202749.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202748.57,3648.7476,N,-12158.4146,W,1,03,00.5,014.7,M,-99.9,M,,*49 : TerrainNav update at nav time = 173.998080 : TerrainNav update at dvl time = 173.998080 : _navData-> (x,y) = (4074560.21, 591551.61) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202750.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074560.21 : Estimated East Bias at time = 0.00 : -591551.61 : Estimated Depth Bias at time = 0.00 : -76.30 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202749.57,3648.7481,N,-12158.4154,W,1,03,00.5,014.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202751.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202750.57,3648.7486,N,-12158.4161,W,1,03,00.5,014.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202752.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202751.57,3648.7491,N,-12158.4168,W,1,03,00.5,014.7,M,-99.9,M,,*44 : TerrainNav update at nav time = 176.997875 : TerrainNav update at dvl time = 176.997875 : _navData-> (x,y) = (4074562.94, 591548.29) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202753.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074562.94 : Estimated East Bias at time = 0.00 : -591548.29 : Estimated Depth Bias at time = 0.00 : -76.11 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202752.57,3648.7496,N,-12158.4176,W,1,03,00.5,014.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202754.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202753.57,3648.7501,N,-12158.4183,W,1,03,00.5,014.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202755.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202754.57,3648.7506,N,-12158.4191,W,1,03,00.5,014.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 179.997669 : TerrainNav update at dvl time = 179.997669 : _navData-> (x,y) = (4074565.64, 591544.93) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202756.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074565.64 : Estimated East Bias at time = 0.00 : -591544.93 : Estimated Depth Bias at time = 0.00 : -75.96 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202755.57,3648.7511,N,-12158.4198,W,1,03,00.5,014.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202757.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202756.57,3648.7516,N,-12158.4206,W,1,03,00.5,015.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202758.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202757.57,3648.7520,N,-12158.4213,W,1,03,00.5,015.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 182.997464 : TerrainNav update at dvl time = 182.997464 : _navData-> (x,y) = (4074568.35, 591541.56) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202759.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074568.35 : Estimated East Bias at time = 0.00 : -591541.56 : Estimated Depth Bias at time = 0.00 : -75.89 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202758.57,3648.7526,N,-12158.4221,W,1,03,00.5,015.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202800.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202759.57,3648.7531,N,-12158.4228,W,1,03,00.5,015.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202801.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202800.57,3648.7536,N,-12158.4235,W,1,03,00.5,014.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 185.997258 : TerrainNav update at dvl time = 185.997258 : _navData-> (x,y) = (4074571.15, 591538.23) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202802.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074571.15 : Estimated East Bias at time = 0.00 : -591538.23 : Estimated Depth Bias at time = 0.00 : -75.78 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202801.57,3648.7541,N,-12158.4243,W,1,03,00.5,014.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202803.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202802.57,3648.7546,N,-12158.4250,W,1,03,00.5,015.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202804.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202803.57,3648.7551,N,-12158.4257,W,1,03,00.5,015.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 188.997053 : TerrainNav update at dvl time = 188.997053 : _navData-> (x,y) = (4074573.98, 591534.96) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202805.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074573.98 : Estimated East Bias at time = 0.00 : -591534.96 : Estimated Depth Bias at time = 0.00 : -75.78 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202804.57,3648.7556,N,-12158.4265,W,1,03,00.5,015.1,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202806.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202805.57,3648.7562,N,-12158.4272,W,1,03,00.5,015.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202807.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202806.57,3648.7567,N,-12158.4279,W,1,03,00.5,015.1,M,-99.9,M,,*45 : TerrainNav update at nav time = 191.996847 : TerrainNav update at dvl time = 191.996847 : _navData-> (x,y) = (4074576.84, 591531.68) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202808.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074576.84 : Estimated East Bias at time = 0.00 : -591531.68 : Estimated Depth Bias at time = 0.00 : -75.65 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202807.57,3648.7572,N,-12158.4286,W,1,03,00.5,015.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202809.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202808.57,3648.7577,N,-12158.4294,W,1,03,00.5,015.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202810.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202809.57,3648.7582,N,-12158.4301,W,1,03,00.5,015.2,M,-99.9,M,,*4c : TerrainNav update at nav time = 194.996642 : TerrainNav update at dvl time = 194.996642 : _navData-> (x,y) = (4074579.64, 591528.36) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202811.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074579.64 : Estimated East Bias at time = 0.00 : -591528.36 : Estimated Depth Bias at time = 0.00 : -75.51 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202810.57,3648.7587,N,-12158.4309,W,1,03,00.5,015.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202812.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202811.57,3648.7592,N,-12158.4316,W,1,03,00.5,015.5,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202813.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202812.57,3648.7598,N,-12158.4323,W,1,03,00.5,015.4,M,-99.9,M,,*4b : TerrainNav update at nav time = 197.996436 : TerrainNav update at dvl time = 197.996436 : _navData-> (x,y) = (4074582.42, 591525.02) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202814.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074582.42 : Estimated East Bias at time = 0.00 : -591525.02 : Estimated Depth Bias at time = 0.00 : -75.49 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202813.57,3648.7603,N,-12158.4331,W,1,03,00.5,015.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202815.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202814.57,3648.7608,N,-12158.4338,W,1,03,00.5,015.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202816.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202815.57,3648.7613,N,-12158.4345,W,1,03,00.5,015.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 200.996231 : TerrainNav update at dvl time = 200.996231 : _navData-> (x,y) = (4074585.24, 591521.73) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202817.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074585.24 : Estimated East Bias at time = 0.00 : -591521.73 : Estimated Depth Bias at time = 0.00 : -75.49 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202816.57,3648.7618,N,-12158.4353,W,1,03,00.5,015.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202818.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202817.57,3648.7623,N,-12158.4360,W,1,03,00.5,015.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202819.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202818.57,3648.7629,N,-12158.4367,W,1,03,00.5,015.5,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 203.996025 : TerrainNav update at dvl time = 203.996025 : _navData-> (x,y) = (4074588.11, 591518.54) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202820.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074588.11 : Estimated East Bias at time = 0.00 : -591518.54 : Estimated Depth Bias at time = 0.00 : -75.41 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202819.57,3648.7634,N,-12158.4374,W,1,03,00.5,015.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202821.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202820.57,3648.7639,N,-12158.4381,W,1,03,00.5,015.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202822.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202821.57,3648.7644,N,-12158.4388,W,1,03,00.5,015.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 206.995820 : TerrainNav update at dvl time = 206.995820 : _navData-> (x,y) = (4074590.93, 591515.29) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202823.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074590.93 : Estimated East Bias at time = 0.00 : -591515.29 : Estimated Depth Bias at time = 0.00 : -75.28 : Estimated northing and easting = 0.00 : 0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202822.57,3648.7649,N,-12158.4396,W,1,03,00.5,015.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202824.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202823.57,3648.7654,N,-12158.4403,W,1,03,00.5,015.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202825.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202824.57,3648.7659,N,-12158.4411,W,1,03,00.5,015.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 209.995614 : TerrainNav update at dvl time = 209.995614 : _navData-> (x,y) = (4074593.67, 591511.97) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202826.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074593.67 : Estimated East Bias at time = 0.00 : -591511.97 : Estimated Depth Bias at time = 0.00 : -75.23 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202825.57,3648.7664,N,-12158.4418,W,1,03,00.5,015.6,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202827.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202826.57,3648.7669,N,-12158.4425,W,1,03,00.5,015.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202828.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202827.57,3648.7674,N,-12158.4432,W,1,03,00.5,015.6,M,-99.9,M,,*49 : TerrainNav update at nav time = 212.995409 : TerrainNav update at dvl time = 212.995409 : _navData-> (x,y) = (4074596.41, 591508.72) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202829.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074596.41 : Estimated East Bias at time = 0.00 : -591508.72 : Estimated Depth Bias at time = 0.00 : -75.24 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202828.57,3648.7679,N,-12158.4439,W,1,03,00.5,015.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202830.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202829.57,3648.7684,N,-12158.4446,W,1,03,00.5,015.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202831.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202830.57,3648.7689,N,-12158.4454,W,1,03,00.5,015.7,M,-99.9,M,,*4c : TerrainNav update at nav time = 215.995203 : TerrainNav update at dvl time = 215.995203 : _navData-> (x,y) = (4074599.23, 591505.53) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202832.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074599.23 : Estimated East Bias at time = 0.00 : -591505.53 : Estimated Depth Bias at time = 0.00 : -75.26 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202831.57,3648.7695,N,-12158.4461,W,1,03,00.5,015.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202833.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202832.57,3648.7700,N,-12158.4468,W,1,03,00.5,015.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202834.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202833.57,3648.7705,N,-12158.4475,W,1,03,00.5,015.6,M,-99.9,M,,*48 : TerrainNav update at nav time = 218.994998 : TerrainNav update at dvl time = 218.994998 : _navData-> (x,y) = (4074602.08, 591502.36) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202835.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074602.08 : Estimated East Bias at time = 0.00 : -591502.36 : Estimated Depth Bias at time = 0.00 : -75.16 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202834.57,3648.7710,N,-12158.4482,W,1,03,00.5,015.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202836.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202835.57,3648.7715,N,-12158.4489,W,1,03,00.5,015.7,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202837.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202836.57,3648.7721,N,-12158.4496,W,1,03,00.5,015.6,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 221.994792 : TerrainNav update at dvl time = 221.994792 : _navData-> (x,y) = (4074604.89, 591499.15) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202838.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074604.89 : Estimated East Bias at time = 0.00 : -591499.15 : Estimated Depth Bias at time = 0.00 : -75.12 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202837.57,3648.7726,N,-12158.4503,W,1,03,00.5,015.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202839.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202838.57,3648.7731,N,-12158.4510,W,1,03,00.5,015.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202840.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202839.57,3648.7735,N,-12158.4518,W,1,03,00.5,015.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 224.994587 : TerrainNav update at dvl time = 224.994587 : _navData-> (x,y) = (4074607.59, 591495.90) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202841.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 0.00 : -4074607.59 : Estimated East Bias at time = 0.00 : -591495.90 : Estimated Depth Bias at time = 0.00 : -75.12 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202840.57,3648.7740,N,-12158.4525,W,1,03,00.5,015.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202842.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202841.57,3648.7745,N,-12158.4532,W,1,03,00.5,015.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202843.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202842.58,3648.7750,N,-12158.4539,W,1,03,00.5,015.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 227.994381 : TerrainNav update at dvl time = 227.994381 : _navData-> (x,y) = (4074610.35, 591492.63) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202844.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074610.35 : Estimated East Bias at time = 0.00 : -591492.63 : Estimated Depth Bias at time = 0.00 : -75.24 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202843.58,3648.7756,N,-12158.4547,W,1,03,00.5,015.7,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202845.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202844.58,3648.7761,N,-12158.4554,W,1,03,00.5,015.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202846.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202845.58,3648.7766,N,-12158.4561,W,1,03,00.5,015.7,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 230.994176 : TerrainNav update at dvl time = 230.994176 : _navData-> (x,y) = (4074613.16, 591489.44) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202847.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074613.16 : Estimated East Bias at time = 0.00 : -591489.44 : Estimated Depth Bias at time = 0.00 : -75.28 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202846.58,3648.7771,N,-12158.4568,W,1,03,00.5,015.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202848.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202847.58,3648.7776,N,-12158.4575,W,1,03,00.5,015.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202849.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202848.58,3648.7781,N,-12158.4582,W,1,03,00.5,015.9,M,-99.9,M,,*41 : TerrainNav update at nav time = 233.993970 : TerrainNav update at dvl time = 233.993970 : _navData-> (x,y) = (4074615.97, 591486.22) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202850.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074615.97 : Estimated East Bias at time = 0.00 : -591486.22 : Estimated Depth Bias at time = 0.00 : -75.21 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202849.58,3648.7786,N,-12158.4589,W,1,03,00.5,015.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202851.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202850.58,3648.7791,N,-12158.4597,W,1,03,00.5,015.7,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202852.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202851.58,3648.7796,N,-12158.4604,W,1,03,00.5,015.8,M,-99.9,M,,*43 : TerrainNav update at nav time = 236.993765 : TerrainNav update at dvl time = 236.993765 : _navData-> (x,y) = (4074618.69, 591482.91) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202853.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074618.69 : Estimated East Bias at time = 0.00 : -591482.91 : Estimated Depth Bias at time = 0.00 : -75.10 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202852.58,3648.7801,N,-12158.4611,W,1,03,00.5,015.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202854.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202853.58,3648.7806,N,-12158.4619,W,1,03,00.5,015.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202855.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202854.58,3648.7811,N,-12158.4626,W,1,03,00.5,015.7,M,-99.9,M,,*49 : TerrainNav update at nav time = 239.993559 : TerrainNav update at dvl time = 239.993559 : _navData-> (x,y) = (4074621.36, 591479.58) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202856.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074621.36 : Estimated East Bias at time = 0.00 : -591479.58 : Estimated Depth Bias at time = 0.00 : -75.08 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202855.58,3648.7816,N,-12158.4634,W,1,03,00.5,015.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202857.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202856.58,3648.7821,N,-12158.4641,W,1,03,00.5,016.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202858.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202857.58,3648.7826,N,-12158.4648,W,1,03,00.5,015.7,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 242.993354 : TerrainNav update at dvl time = 242.993354 : _navData-> (x,y) = (4074624.08, 591476.31) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202859.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074624.08 : Estimated East Bias at time = 0.00 : -591476.31 : Estimated Depth Bias at time = 0.00 : -75.10 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202858.58,3648.7831,N,-12158.4655,W,1,03,00.5,016.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202900.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202859.58,3648.7836,N,-12158.4663,W,1,03,00.5,016.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202901.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202900.58,3648.7841,N,-12158.4670,W,1,03,00.5,016.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 245.993148 : TerrainNav update at dvl time = 245.993148 : _navData-> (x,y) = (4074626.87, 591473.02) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202902.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074626.87 : Estimated East Bias at time = 0.00 : -591473.02 : Estimated Depth Bias at time = 0.00 : -75.08 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202901.58,3648.7846,N,-12158.4677,W,1,03,00.5,015.8,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202903.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202902.58,3648.7851,N,-12158.4685,W,1,03,00.5,016.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202904.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202903.58,3648.7856,N,-12158.4692,W,1,03,00.5,016.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 248.992943 : TerrainNav update at dvl time = 248.992943 : _navData-> (x,y) = (4074629.62, 591469.70) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202905.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074629.62 : Estimated East Bias at time = 0.00 : -591469.70 : Estimated Depth Bias at time = 0.00 : -75.08 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202904.58,3648.7861,N,-12158.4700,W,1,03,00.5,015.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202906.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202905.58,3648.7866,N,-12158.4707,W,1,03,00.5,016.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202907.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202906.58,3648.7871,N,-12158.4714,W,1,03,00.5,016.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 252.002737 : TerrainNav update at dvl time = 252.002737 : _navData-> (x,y) = (4074632.30, 591466.38) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202908.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074632.30 : Estimated East Bias at time = 0.00 : -591466.38 : Estimated Depth Bias at time = 0.00 : -75.03 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202907.58,3648.7876,N,-12158.4722,W,1,03,00.5,016.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202909.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202908.58,3648.7881,N,-12158.4729,W,1,03,00.5,016.1,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202910.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202909.58,3648.7886,N,-12158.4736,W,1,03,00.5,016.0,M,-99.9,M,,*4a : TerrainNav update at nav time = 255.002531 : TerrainNav update at dvl time = 255.002531 : _navData-> (x,y) = (4074635.00, 591463.07) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202911.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074635.00 : Estimated East Bias at time = 0.00 : -591463.07 : Estimated Depth Bias at time = 0.00 : -75.03 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202910.58,3648.7891,N,-12158.4744,W,1,03,00.5,016.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202912.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202911.58,3648.7895,N,-12158.4751,W,1,03,00.5,016.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202913.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202912.58,3648.7900,N,-12158.4758,W,1,03,00.5,016.1,M,-99.9,M,,*46 : TerrainNav update at nav time = 258.002326 : TerrainNav update at dvl time = 258.002326 : _navData-> (x,y) = (4074637.72, 591459.81) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202914.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074637.72 : Estimated East Bias at time = 0.00 : -591459.81 : Estimated Depth Bias at time = 0.00 : -75.06 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202913.58,3648.7905,N,-12158.4765,W,1,03,00.5,016.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202915.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202914.58,3648.7910,N,-12158.4772,W,1,03,00.5,016.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202916.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202915.58,3648.7915,N,-12158.4780,W,1,03,00.5,016.1,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 261.002120 : TerrainNav update at dvl time = 261.002120 : _navData-> (x,y) = (4074640.46, 591456.60) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202917.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074640.46 : Estimated East Bias at time = 0.00 : -591456.60 : Estimated Depth Bias at time = 0.00 : -75.03 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202916.58,3648.7920,N,-12158.4787,W,1,03,00.5,016.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202918.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202917.58,3648.7925,N,-12158.4794,W,1,03,00.5,016.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202919.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202918.58,3648.7930,N,-12158.4802,W,1,03,00.5,016.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 264.001915 : TerrainNav update at dvl time = 264.001915 : _navData-> (x,y) = (4074643.17, 591453.29) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202920.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074643.17 : Estimated East Bias at time = 0.00 : -591453.29 : Estimated Depth Bias at time = 0.00 : -75.09 : Estimated northing and easting = 0.00 : 0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202919.58,3648.7935,N,-12158.4809,W,1,03,00.5,016.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202921.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202920.58,3648.7940,N,-12158.4816,W,1,03,00.5,016.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202922.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202921.58,3648.7945,N,-12158.4823,W,1,03,00.5,016.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 267.001709 : TerrainNav update at dvl time = 267.001709 : _navData-> (x,y) = (4074645.92, 591450.06) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202923.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074645.92 : Estimated East Bias at time = 0.00 : -591450.06 : Estimated Depth Bias at time = 0.00 : -75.17 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202922.58,3648.7950,N,-12158.4830,W,1,03,00.5,016.1,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202924.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202923.58,3648.7955,N,-12158.4837,W,1,03,00.5,016.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202925.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202924.58,3648.7960,N,-12158.4844,W,1,03,00.5,016.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 270.001504 : TerrainNav update at dvl time = 270.001504 : _navData-> (x,y) = (4074648.69, 591446.89) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202926.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074648.69 : Estimated East Bias at time = 0.00 : -591446.89 : Estimated Depth Bias at time = 0.00 : -75.17 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202925.58,3648.7965,N,-12158.4851,W,1,03,00.5,016.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202927.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202926.58,3648.7971,N,-12158.4858,W,1,03,00.5,016.1,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202928.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202927.58,3648.7976,N,-12158.4866,W,1,03,00.5,016.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 273.001298 : TerrainNav update at dvl time = 273.001298 : _navData-> (x,y) = (4074651.48, 591443.71) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202929.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074651.48 : Estimated East Bias at time = 0.00 : -591443.71 : Estimated Depth Bias at time = 0.00 : -75.11 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202928.58,3648.7981,N,-12158.4873,W,1,03,00.5,016.4,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202930.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202929.58,3648.7986,N,-12158.4880,W,1,03,00.5,016.3,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202931.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202930.58,3648.7991,N,-12158.4887,W,1,03,00.5,016.3,M,-99.9,M,,*41 : TerrainNav update at nav time = 276.001093 : TerrainNav update at dvl time = 276.001093 : _navData-> (x,y) = (4074654.21, 591440.44) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202932.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074654.21 : Estimated East Bias at time = 0.00 : -591440.44 : Estimated Depth Bias at time = 0.00 : -75.01 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202931.58,3648.7996,N,-12158.4895,W,1,03,00.5,016.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202933.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202932.58,3648.8001,N,-12158.4902,W,1,03,00.5,016.2,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202934.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202933.58,3648.8006,N,-12158.4909,W,1,03,00.5,016.4,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 279.000887 : TerrainNav update at dvl time = 279.000887 : _navData-> (x,y) = (4074656.91, 591437.12) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202935.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074656.91 : Estimated East Bias at time = 0.00 : -591437.12 : Estimated Depth Bias at time = 0.00 : -75.07 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202934.58,3648.8010,N,-12158.4917,W,1,03,00.5,016.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202936.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202935.58,3648.8015,N,-12158.4924,W,1,03,00.5,016.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202937.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202936.58,3648.8020,N,-12158.4931,W,1,03,00.5,016.7,M,-99.9,M,,*43 : TerrainNav update at nav time = 282.000682 : TerrainNav update at dvl time = 282.000682 : _navData-> (x,y) = (4074659.63, 591433.83) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202938.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074659.63 : Estimated East Bias at time = 0.00 : -591433.83 : Estimated Depth Bias at time = 0.00 : -75.12 : Estimated northing and easting = 0.00 : 0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202937.58,3648.8025,N,-12158.4939,W,1,03,00.5,016.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202939.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202938.58,3648.8031,N,-12158.4946,W,1,03,00.5,016.7,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202940.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202939.58,3648.8036,N,-12158.4953,W,1,03,00.5,016.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 285.000476 : TerrainNav update at dvl time = 285.000476 : _navData-> (x,y) = (4074662.44, 591430.63) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202941.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074662.44 : Estimated East Bias at time = 0.00 : -591430.63 : Estimated Depth Bias at time = 0.00 : -75.20 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202940.58,3648.8041,N,-12158.4960,W,1,03,00.5,016.7,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202942.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202941.58,3648.8046,N,-12158.4967,W,1,03,00.5,016.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202943.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202942.58,3648.8051,N,-12158.4974,W,1,03,00.5,016.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 288.000271 : TerrainNav update at dvl time = 288.000271 : _navData-> (x,y) = (4074665.24, 591427.49) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202944.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074665.24 : Estimated East Bias at time = 0.00 : -591427.49 : Estimated Depth Bias at time = 0.00 : -75.14 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202943.58,3648.8056,N,-12158.4981,W,1,03,00.5,016.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202945.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202944.58,3648.8061,N,-12158.4988,W,1,03,00.5,016.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202946.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202945.58,3648.8066,N,-12158.4995,W,1,03,00.5,016.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 291.000065 : TerrainNav update at dvl time = 291.000065 : _navData-> (x,y) = (4074668.01, 591424.26) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202947.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074668.01 : Estimated East Bias at time = 0.00 : -591424.26 : Estimated Depth Bias at time = 0.00 : -75.04 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202946.58,3648.8071,N,-12158.5002,W,1,03,00.5,016.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202948.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202947.58,3648.8076,N,-12158.5010,W,1,03,00.5,016.7,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202949.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202948.58,3648.8081,N,-12158.5017,W,1,03,00.5,016.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 293.999860 : TerrainNav update at dvl time = 293.999860 : _navData-> (x,y) = (4074670.72, 591420.95) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202950.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074670.72 : Estimated East Bias at time = 0.00 : -591420.95 : Estimated Depth Bias at time = 0.00 : -75.08 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202949.58,3648.8086,N,-12158.5024,W,1,03,00.5,016.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202951.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202950.58,3648.8091,N,-12158.5032,W,1,03,00.5,016.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202952.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202951.58,3648.8096,N,-12158.5039,W,1,03,00.5,016.9,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 296.999654 : TerrainNav update at dvl time = 296.999654 : _navData-> (x,y) = (4074673.43, 591417.71) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202953.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074673.43 : Estimated East Bias at time = 0.00 : -591417.71 : Estimated Depth Bias at time = 0.00 : -75.10 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202952.58,3648.8101,N,-12158.5046,W,1,03,00.5,016.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202954.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202953.58,3648.8106,N,-12158.5053,W,1,03,00.5,017.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202955.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202954.58,3648.8111,N,-12158.5060,W,1,03,00.5,017.0,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 299.999449 : TerrainNav update at dvl time = 299.999449 : AshtechGps::processRecord() - $GPGGA,202956.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : _navData-> (x,y) = (4074676.17, 591414.51) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074676.17 : Estimated East Bias at time = 0.00 : -591414.51 : Estimated Depth Bias at time = 0.00 : -75.12 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,202955.58,3648.8116,N,-12158.5067,W,1,03,00.5,017.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202957.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202956.58,3648.8121,N,-12158.5074,W,1,03,00.5,017.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,202958.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202957.58,3648.8126,N,-12158.5081,W,1,03,00.5,017.2,M,-99.9,M,,*44 : TerrainNav update at nav time = 302.999243 : TerrainNav update at dvl time = 302.999243 : _navData-> (x,y) = (4074678.93, 591411.30) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202959.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074678.93 : Estimated East Bias at time = 0.00 : -591411.30 : Estimated Depth Bias at time = 0.00 : -75.12 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,202958.58,3648.8131,N,-12158.5089,W,1,03,00.5,017.1,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203000.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202959.58,3648.8136,N,-12158.5096,W,1,03,00.5,017.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203001.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203000.58,3648.8141,N,-12158.5103,W,1,03,00.5,017.3,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 305.999038 : TerrainNav update at dvl time = 305.999038 : _navData-> (x,y) = (4074681.61, 591408.05) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203002.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074681.61 : Estimated East Bias at time = 0.00 : -591408.05 : Estimated Depth Bias at time = 0.00 : -75.08 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203001.58,3648.8146,N,-12158.5110,W,1,03,00.5,017.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203003.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203002.58,3648.8151,N,-12158.5118,W,1,03,00.5,017.4,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203004.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203003.58,3648.8155,N,-12158.5125,W,1,03,00.5,017.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 308.998832 : TerrainNav update at dvl time = 308.998832 : _navData-> (x,y) = (4074684.29, 591404.77) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203005.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074684.29 : Estimated East Bias at time = 0.00 : -591404.77 : Estimated Depth Bias at time = 0.00 : -75.05 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203004.58,3648.8160,N,-12158.5132,W,1,03,00.5,017.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203006.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203005.58,3648.8165,N,-12158.5140,W,1,03,00.5,017.4,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203007.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203006.58,3648.8170,N,-12158.5147,W,1,03,00.5,017.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 311.998626 : TerrainNav update at dvl time = 311.998626 : _navData-> (x,y) = (4074687.04, 591401.47) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203008.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074687.04 : Estimated East Bias at time = 0.00 : -591401.47 : Estimated Depth Bias at time = 0.00 : -75.02 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203007.58,3648.8175,N,-12158.5154,W,1,03,00.5,017.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203009.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203008.58,3648.8180,N,-12158.5162,W,1,03,00.5,017.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203010.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203009.58,3648.8185,N,-12158.5169,W,1,03,00.5,017.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 314.998421 : TerrainNav update at dvl time = 314.998421 : _navData-> (x,y) = (4074689.75, 591398.19) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203011.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074689.75 : Estimated East Bias at time = 0.00 : -591398.19 : Estimated Depth Bias at time = 0.00 : -75.00 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203010.58,3648.8190,N,-12158.5176,W,1,03,00.5,017.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203012.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203011.58,3648.8195,N,-12158.5183,W,1,03,00.5,017.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203013.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203012.57,3648.8200,N,-12158.5190,W,1,03,00.5,017.4,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 317.998216 : TerrainNav update at dvl time = 317.998216 : _navData-> (x,y) = (4074692.46, 591394.96) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203014.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074692.46 : Estimated East Bias at time = 0.00 : -591394.96 : Estimated Depth Bias at time = 0.00 : -75.03 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203013.57,3648.8205,N,-12158.5198,W,1,03,00.5,017.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203015.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203014.57,3648.8210,N,-12158.5205,W,1,03,00.5,017.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203016.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203015.57,3648.8215,N,-12158.5212,W,1,03,00.5,017.6,M,-99.9,M,,*4a : TerrainNav update at nav time = 320.998010 : TerrainNav update at dvl time = 320.998010 : _navData-> (x,y) = (4074695.19, 591391.68) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203017.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074695.19 : Estimated East Bias at time = 0.00 : -591391.68 : Estimated Depth Bias at time = 0.00 : -75.05 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203016.57,3648.8220,N,-12158.5220,W,1,03,00.5,017.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203018.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203017.57,3648.8225,N,-12158.5227,W,1,03,00.5,017.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203019.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203018.57,3648.8230,N,-12158.5234,W,1,03,00.5,017.8,M,-99.9,M,,*4a : TerrainNav update at nav time = 323.997805 : TerrainNav update at dvl time = 323.997805 : _navData-> (x,y) = (4074697.96, 591388.42) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203020.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074697.96 : Estimated East Bias at time = 0.00 : -591388.42 : Estimated Depth Bias at time = 0.00 : -75.09 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203019.57,3648.8235,N,-12158.5241,W,1,03,00.5,017.8,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203021.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203020.57,3648.8240,N,-12158.5248,W,1,03,00.5,017.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203022.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203021.57,3648.8246,N,-12158.5255,W,1,03,00.5,017.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 326.997599 : TerrainNav update at dvl time = 326.997599 : _navData-> (x,y) = (4074700.76, 591385.25) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203023.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074700.76 : Estimated East Bias at time = 0.00 : -591385.25 : Estimated Depth Bias at time = 0.00 : -75.05 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203022.57,3648.8251,N,-12158.5262,W,1,03,00.5,017.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203024.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203023.57,3648.8256,N,-12158.5269,W,1,03,00.5,018.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203025.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203024.57,3648.8261,N,-12158.5276,W,1,03,00.5,018.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 329.997394 : TerrainNav update at dvl time = 329.997394 : _navData-> (x,y) = (4074703.54, 591382.07) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203026.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074703.54 : Estimated East Bias at time = 0.00 : -591382.07 : Estimated Depth Bias at time = 0.00 : -74.98 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203025.57,3648.8266,N,-12158.5284,W,1,03,00.5,018.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203027.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203026.57,3648.8271,N,-12158.5291,W,1,03,00.5,017.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203028.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203027.57,3648.8276,N,-12158.5298,W,1,03,00.5,018.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 332.997188 : TerrainNav update at dvl time = 332.997188 : _navData-> (x,y) = (4074706.29, 591378.80) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203029.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074706.29 : Estimated East Bias at time = 0.00 : -591378.80 : Estimated Depth Bias at time = 0.00 : -74.91 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203028.57,3648.8281,N,-12158.5305,W,1,03,00.5,018.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203030.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203029.57,3648.8286,N,-12158.5313,W,1,03,00.5,018.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203031.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203030.57,3648.8291,N,-12158.5320,W,1,03,00.5,018.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 335.996983 : TerrainNav update at dvl time = 335.996983 : _navData-> (x,y) = (4074709.02, 591375.52) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203032.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074709.02 : Estimated East Bias at time = 0.00 : -591375.52 : Estimated Depth Bias at time = 0.00 : -74.90 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203031.57,3648.8296,N,-12158.5327,W,1,03,00.5,018.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203033.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203032.57,3648.8301,N,-12158.5334,W,1,03,00.5,018.1,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203034.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203033.57,3648.8306,N,-12158.5342,W,1,03,00.5,018.1,M,-99.9,M,,*41 : TerrainNav update at nav time = 338.996777 : TerrainNav update at dvl time = 338.996777 : _navData-> (x,y) = (4074711.75, 591372.27) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203035.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074711.75 : Estimated East Bias at time = 0.00 : -591372.27 : Estimated Depth Bias at time = 0.00 : -74.93 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203034.57,3648.8311,N,-12158.5349,W,1,03,00.5,018.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203036.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203035.57,3648.8316,N,-12158.5356,W,1,03,00.5,018.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203037.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203036.57,3648.8321,N,-12158.5363,W,1,03,00.5,018.2,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 341.996572 : TerrainNav update at dvl time = 341.996572 : _navData-> (x,y) = (4074714.51, 591369.03) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203038.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074714.51 : Estimated East Bias at time = 0.00 : -591369.03 : Estimated Depth Bias at time = 0.00 : -74.93 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203037.57,3648.8326,N,-12158.5370,W,1,03,00.5,018.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203039.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203038.57,3648.8331,N,-12158.5378,W,1,03,00.5,018.3,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203040.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203039.57,3648.8336,N,-12158.5385,W,1,03,00.5,018.4,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 344.996366 : TerrainNav update at dvl time = 344.996366 : _navData-> (x,y) = (4074717.30, 591365.79) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203041.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074717.30 : Estimated East Bias at time = 0.00 : -591365.79 : Estimated Depth Bias at time = 0.00 : -74.91 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203040.57,3648.8341,N,-12158.5392,W,1,03,00.5,018.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203042.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203041.57,3648.8346,N,-12158.5399,W,1,03,00.5,018.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203043.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203042.57,3648.8351,N,-12158.5406,W,1,03,00.5,018.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 347.996161 : TerrainNav update at dvl time = 347.996161 : _navData-> (x,y) = (4074720.05, 591362.56) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203044.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074720.05 : Estimated East Bias at time = 0.00 : -591362.56 : Estimated Depth Bias at time = 0.00 : -74.85 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203043.57,3648.8356,N,-12158.5414,W,1,03,00.5,018.5,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203045.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203044.57,3648.8361,N,-12158.5421,W,1,03,00.5,018.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203046.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203045.57,3648.8366,N,-12158.5428,W,1,03,00.5,018.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 350.995955 : TerrainNav update at dvl time = 350.995955 : _navData-> (x,y) = (4074722.77, 591359.31) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203047.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074722.77 : Estimated East Bias at time = 0.00 : -591359.31 : Estimated Depth Bias at time = 0.00 : -74.83 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203046.57,3648.8371,N,-12158.5435,W,1,03,00.5,018.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203048.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203047.57,3648.8376,N,-12158.5443,W,1,03,00.5,018.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203049.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203048.57,3648.8381,N,-12158.5450,W,1,03,00.5,018.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 353.995749 : TerrainNav update at dvl time = 353.995749 : _navData-> (x,y) = (4074725.47, 591356.04) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203050.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074725.47 : Estimated East Bias at time = 0.00 : -591356.04 : Estimated Depth Bias at time = 0.00 : -74.88 : Estimated northing and easting = 0.00 : 0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203049.57,3648.8386,N,-12158.5457,W,1,03,00.5,018.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203051.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203050.57,3648.8391,N,-12158.5464,W,1,03,00.5,018.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203052.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203051.57,3648.8396,N,-12158.5471,W,1,03,00.5,018.7,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 356.995544 : TerrainNav update at dvl time = 356.995544 : _navData-> (x,y) = (4074728.17, 591352.81) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203053.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074728.17 : Estimated East Bias at time = 0.00 : -591352.81 : Estimated Depth Bias at time = 0.00 : -74.94 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203052.57,3648.8401,N,-12158.5478,W,1,03,00.5,018.7,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203054.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203053.57,3648.8406,N,-12158.5486,W,1,03,00.5,018.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203055.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203054.57,3648.8411,N,-12158.5493,W,1,03,00.5,018.8,M,-99.9,M,,*43 : TerrainNav update at nav time = 359.995339 : TerrainNav update at dvl time = 359.995339 : _navData-> (x,y) = (4074730.91, 591349.60) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203056.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074730.91 : Estimated East Bias at time = 0.00 : -591349.60 : Estimated Depth Bias at time = 0.00 : -75.00 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203055.57,3648.8416,N,-12158.5500,W,1,03,00.5,018.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203057.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203056.57,3648.8421,N,-12158.5507,W,1,03,00.5,018.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203058.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203057.57,3648.8426,N,-12158.5514,W,1,03,00.5,019.0,M,-99.9,M,,*43 : TerrainNav update at nav time = 362.995133 : TerrainNav update at dvl time = 362.995133 : _navData-> (x,y) = (4074733.63, 591346.37) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203059.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074733.63 : Estimated East Bias at time = 0.00 : -591346.37 : Estimated Depth Bias at time = 0.00 : -74.96 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203058.57,3648.8431,N,-12158.5521,W,1,03,00.5,018.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203100.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203059.57,3648.8436,N,-12158.5529,W,1,03,00.5,018.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203101.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203100.57,3648.8441,N,-12158.5536,W,1,03,00.5,018.9,M,-99.9,M,,*49 : TerrainNav update at nav time = 365.994928 : TerrainNav update at dvl time = 365.994928 : _navData-> (x,y) = (4074736.38, 591343.11) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203102.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074736.38 : Estimated East Bias at time = 0.00 : -591343.11 : Estimated Depth Bias at time = 0.00 : -74.97 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203101.57,3648.8446,N,-12158.5543,W,1,03,00.5,018.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203103.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203102.57,3648.8451,N,-12158.5550,W,1,03,00.5,018.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203104.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203103.57,3648.8456,N,-12158.5557,W,1,03,00.5,018.9,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 368.994722 : TerrainNav update at dvl time = 368.994722 : _navData-> (x,y) = (4074739.13, 591339.91) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203105.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074739.13 : Estimated East Bias at time = 0.00 : -591339.91 : Estimated Depth Bias at time = 0.00 : -75.00 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203104.57,3648.8461,N,-12158.5565,W,1,03,00.5,018.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203106.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203105.57,3648.8466,N,-12158.5572,W,1,03,00.5,018.9,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203107.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203106.57,3648.8471,N,-12158.5579,W,1,03,00.5,018.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 371.994517 : TerrainNav update at dvl time = 371.994517 : _navData-> (x,y) = (4074741.88, 591336.68) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203108.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074741.88 : Estimated East Bias at time = 0.00 : -591336.68 : Estimated Depth Bias at time = 0.00 : -75.00 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203107.57,3648.8476,N,-12158.5586,W,1,03,00.5,018.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203109.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203108.58,3648.8481,N,-12158.5593,W,1,03,00.5,018.9,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203110.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203109.58,3648.8486,N,-12158.5601,W,1,03,00.5,018.9,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 374.994311 : TerrainNav update at dvl time = 374.994311 : _navData-> (x,y) = (4074744.61, 591333.38) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203111.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074744.61 : Estimated East Bias at time = 0.00 : -591333.38 : Estimated Depth Bias at time = 0.00 : -75.05 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203110.58,3648.8491,N,-12158.5608,W,1,03,00.5,018.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203112.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203111.58,3648.8496,N,-12158.5616,W,1,03,00.5,019.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203113.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203112.58,3648.8500,N,-12158.5623,W,1,03,00.5,019.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 377.994106 : TerrainNav update at dvl time = 377.994106 : _navData-> (x,y) = (4074747.29, 591330.09) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203114.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074747.29 : Estimated East Bias at time = 0.00 : -591330.09 : Estimated Depth Bias at time = 0.00 : -75.11 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203113.58,3648.8505,N,-12158.5630,W,1,03,00.5,019.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203115.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203114.58,3648.8510,N,-12158.5637,W,1,03,00.5,019.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203116.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203115.58,3648.8515,N,-12158.5644,W,1,03,00.5,019.1,M,-99.9,M,,*4d : TerrainNav update at nav time = 380.993900 : TerrainNav update at dvl time = 380.993900 : _navData-> (x,y) = (4074749.98, 591326.90) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203117.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074749.98 : Estimated East Bias at time = 0.00 : -591326.90 : Estimated Depth Bias at time = 0.00 : -75.13 : Estimated northing and easting = 0.00 : 0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203116.58,3648.8520,N,-12158.5651,W,1,03,00.5,019.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203118.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203117.58,3648.8525,N,-12158.5658,W,1,03,00.5,019.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203119.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203118.58,3648.8530,N,-12158.5665,W,1,03,00.5,019.4,M,-99.9,M,,*41 : TerrainNav update at nav time = 383.993695 : TerrainNav update at dvl time = 383.993695 : _navData-> (x,y) = (4074752.76, 591323.71) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203120.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074752.76 : Estimated East Bias at time = 0.00 : -591323.71 : Estimated Depth Bias at time = 0.00 : -75.14 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203119.58,3648.8535,N,-12158.5672,W,1,03,00.5,019.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203121.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203120.58,3648.8540,N,-12158.5680,W,1,03,00.5,019.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203122.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203121.58,3648.8545,N,-12158.5687,W,1,03,00.5,019.5,M,-99.9,M,,*44 : TerrainNav update at nav time = 386.993489 : TerrainNav update at dvl time = 386.993489 : _navData-> (x,y) = (4074755.52, 591320.47) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203123.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074755.52 : Estimated East Bias at time = 0.00 : -591320.47 : Estimated Depth Bias at time = 0.00 : -75.08 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203122.58,3648.8551,N,-12158.5694,W,1,03,00.5,019.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203124.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203123.58,3648.8556,N,-12158.5701,W,1,03,00.5,019.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203125.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203124.58,3648.8561,N,-12158.5709,W,1,03,00.5,019.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 389.993284 : TerrainNav update at dvl time = 389.993284 : _navData-> (x,y) = (4074758.25, 591317.22) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203126.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074758.25 : Estimated East Bias at time = 0.00 : -591317.22 : Estimated Depth Bias at time = 0.00 : -75.05 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203125.58,3648.8565,N,-12158.5716,W,1,03,00.5,019.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203127.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203126.58,3648.8570,N,-12158.5723,W,1,03,00.5,019.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203128.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203127.58,3648.8575,N,-12158.5730,W,1,03,00.5,019.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 392.993078 : TerrainNav update at dvl time = 392.993078 : _navData-> (x,y) = (4074760.96, 591313.96) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203129.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074760.96 : Estimated East Bias at time = 0.00 : -591313.96 : Estimated Depth Bias at time = 0.00 : -75.03 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203128.58,3648.8580,N,-12158.5738,W,1,03,00.5,019.5,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203130.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203129.58,3648.8585,N,-12158.5745,W,1,03,00.5,019.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203131.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203130.58,3648.8590,N,-12158.5752,W,1,03,00.5,019.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 395.992872 : TerrainNav update at dvl time = 395.992872 : _navData-> (x,y) = (4074763.70, 591310.64) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203132.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074763.70 : Estimated East Bias at time = 0.00 : -591310.64 : Estimated Depth Bias at time = 0.00 : -75.03 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203131.58,3648.8595,N,-12158.5760,W,1,03,00.5,019.6,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203133.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203132.58,3648.8601,N,-12158.5767,W,1,03,00.5,019.6,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203134.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203133.58,3648.8606,N,-12158.5774,W,1,03,00.5,019.8,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 399.002666 : TerrainNav update at dvl time = 399.002666 : _navData-> (x,y) = (4074766.50, 591307.38) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203135.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074766.50 : Estimated East Bias at time = 0.00 : -591307.38 : Estimated Depth Bias at time = 0.00 : -75.08 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203134.58,3648.8611,N,-12158.5781,W,1,03,00.5,019.8,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203136.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203135.58,3648.8616,N,-12158.5788,W,1,03,00.5,019.9,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203137.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203136.58,3648.8621,N,-12158.5796,W,1,03,00.5,019.9,M,-99.9,M,,*4e : TerrainNav update at nav time = 402.002461 : TerrainNav update at dvl time = 402.002461 : _navData-> (x,y) = (4074769.27, 591304.15) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203138.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074769.27 : Estimated East Bias at time = 0.00 : -591304.15 : Estimated Depth Bias at time = 0.00 : -75.04 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203137.58,3648.8626,N,-12158.5803,W,1,03,00.5,020.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203139.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203138.58,3648.8631,N,-12158.5810,W,1,03,00.5,020.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203140.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203139.58,3648.8636,N,-12158.5817,W,1,03,00.5,020.0,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 405.002255 : TerrainNav update at dvl time = 405.002255 : _navData-> (x,y) = (4074772.05, 591300.88) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203141.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074772.05 : Estimated East Bias at time = 0.00 : -591300.88 : Estimated Depth Bias at time = 0.00 : -74.98 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203140.58,3648.8641,N,-12158.5825,W,1,03,00.5,020.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203142.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203141.58,3648.8646,N,-12158.5832,W,1,03,00.5,020.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203143.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203142.58,3648.8651,N,-12158.5839,W,1,03,00.5,020.1,M,-99.9,M,,*42 : TerrainNav update at nav time = 408.002050 : TerrainNav update at dvl time = 408.002050 : _navData-> (x,y) = (4074774.79, 591297.65) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203144.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074774.79 : Estimated East Bias at time = 0.00 : -591297.65 : Estimated Depth Bias at time = 0.00 : -74.96 : Estimated northing and easting = 0.00 : 0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203143.58,3648.8656,N,-12158.5846,W,1,03,00.5,020.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,203145.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203144.58,3648.8661,N,-12158.5853,W,1,03,00.5,020.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203146.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203145.58,3648.8666,N,-12158.5861,W,1,03,00.5,020.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 411.001844 : TerrainNav update at dvl time = 411.001844 : _navData-> (x,y) = (4074777.55, 591294.36) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203147.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074777.55 : Estimated East Bias at time = 0.00 : -591294.36 : Estimated Depth Bias at time = 0.00 : -74.96 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203146.58,3648.8671,N,-12158.5868,W,1,03,00.5,020.4,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203148.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203147.58,3648.8676,N,-12158.5876,W,1,03,00.5,020.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203149.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203148.58,3648.8681,N,-12158.5883,W,1,03,00.5,020.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 414.001639 : TerrainNav update at dvl time = 414.001639 : _navData-> (x,y) = (4074780.30, 591291.04) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203150.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074780.30 : Estimated East Bias at time = 0.00 : -591291.04 : Estimated Depth Bias at time = 0.00 : -75.02 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203149.58,3648.8686,N,-12158.5890,W,1,03,00.5,020.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203151.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203150.58,3648.8691,N,-12158.5898,W,1,03,00.5,020.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,203152.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203151.58,3648.8696,N,-12158.5905,W,1,03,00.5,020.7,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 417.001433 : TerrainNav update at dvl time = 417.001433 : _navData-> (x,y) = (4074783.05, 591287.74) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203153.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074783.05 : Estimated East Bias at time = 0.00 : -591287.74 : Estimated Depth Bias at time = 0.00 : -75.05 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203152.58,3648.8701,N,-12158.5912,W,1,03,00.5,020.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203154.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203153.58,3648.8706,N,-12158.5920,W,1,03,00.5,020.8,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203155.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203154.58,3648.8712,N,-12158.5927,W,1,03,00.5,020.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=5.41 speedMode=1 speed=1.50 : TerrainNav update at nav time = 420.001228 : TerrainNav update at dvl time = 420.001228 : _navData-> (x,y) = (4074785.83, 591284.46) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203156.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074785.83 : Estimated East Bias at time = 0.00 : -591284.46 : Estimated Depth Bias at time = 0.00 : -75.07 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203155.58,3648.8717,N,-12158.5934,W,1,03,00.5,021.0,M,-99.9,M,,*4b : Waypoint has set the state to finished. : Waypoint (4074786.1, 591284.1), reached at t = 461.40 (wplog) : Vehicle Position is error is (-0.1, 0.1) : LayeredControl::execute() -- (t = 461.398392) Behavior waypoint:-1 has changed to state Finished : WaypointDepth initialization: Begin waypoint control at t= 461.40 (wplog) The current location (N,E) = 4074786.2 , 591284.0 (wplog) The next waypoint = 4074718.3 , 591221.5 (wplog) The bearing to the next w.p. is 222.6 Degrees. The distance to the next w.p. is 92.3 Meters. The slope to the next w.p. is -0.2817. The initial commanded depth is 75.0 meters. The final commanded depth is 101.0 meters. : LayeredControl::execute() -- (t = 461.398392) Behavior waypoint_depth:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=2 vert=75.01 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203157.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203156.58,3648.8722,N,-12158.5941,W,1,03,00.5,021.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203158.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.03 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203157.58,3648.8727,N,-12158.5949,W,1,03,00.5,021.2,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 423.001022 : TerrainNav update at dvl time = 423.001022 : _navData-> (x,y) = (4074788.60, 591281.14) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203159.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074788.60 : Estimated East Bias at time = 0.00 : -591281.14 : Estimated Depth Bias at time = 0.00 : -75.05 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203158.58,3648.8731,N,-12158.5956,W,1,03,00.5,021.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=75.09 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203200.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203159.58,3648.8735,N,-12158.5964,W,1,03,00.5,021.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=75.21 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203201.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203200.58,3648.8739,N,-12158.5973,W,1,03,00.5,021.6,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 426.000817 : TerrainNav update at dvl time = 426.000817 : _navData-> (x,y) = (4074790.49, 591277.49) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203202.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074790.49 : Estimated East Bias at time = 0.00 : -591277.49 : Estimated Depth Bias at time = 0.00 : -75.02 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203201.58,3648.8741,N,-12158.5981,W,1,03,00.5,021.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=75.43 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203203.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203202.58,3648.8742,N,-12158.5990,W,1,03,00.5,021.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=75.73 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203204.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203203.58,3648.8741,N,-12158.5998,W,1,03,00.5,021.8,M,-99.9,M,,*46 : TerrainNav update at nav time = 429.000611 : TerrainNav update at dvl time = 429.000611 : _navData-> (x,y) = (4074790.55, 591273.86) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203205.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074790.55 : Estimated East Bias at time = 0.00 : -591273.86 : Estimated Depth Bias at time = 0.00 : -74.97 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=76.09 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203204.58,3648.8740,N,-12158.6005,W,1,03,00.5,022.3,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203206.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203205.58,3648.8738,N,-12158.6012,W,1,03,00.5,022.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=76.48 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203207.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203206.58,3648.8735,N,-12158.6017,W,1,03,00.5,022.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=76.87 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : TerrainNav update at nav time = 432.000406 : TerrainNav update at dvl time = 432.000406 : _navData-> (x,y) = (4074788.99, 591271.21) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203208.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074788.99 : Estimated East Bias at time = 0.00 : -591271.21 : Estimated Depth Bias at time = 0.00 : -74.82 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203207.58,3648.8731,N,-12158.6022,W,1,03,00.5,022.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203209.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203208.58,3648.8727,N,-12158.6025,W,1,03,00.5,022.6,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=77.24 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203210.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203209.58,3648.8722,N,-12158.6028,W,1,03,00.5,022.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=77.59 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : TerrainNav update at nav time = 435.000201 : TerrainNav update at dvl time = 435.000201 : _navData-> (x,y) = (4074786.56, 591269.84) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203211.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074786.56 : Estimated East Bias at time = 0.00 : -591269.84 : Estimated Depth Bias at time = 0.00 : -74.76 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203210.58,3648.8717,N,-12158.6030,W,1,03,00.5,022.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203212.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=77.91 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203211.58,3648.8712,N,-12158.6032,W,1,03,00.5,022.5,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203213.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203212.58,3648.8707,N,-12158.6033,W,1,03,00.5,022.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=78.23 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : TerrainNav update at nav time = 437.999995 : TerrainNav update at dvl time = 437.999995 : _navData-> (x,y) = (4074783.73, 591269.31) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203214.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074783.73 : Estimated East Bias at time = 0.00 : -591269.31 : Estimated Depth Bias at time = 0.00 : -75.21 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203213.58,3648.8702,N,-12158.6034,W,1,03,00.5,022.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=78.55 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203215.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203214.58,3648.8696,N,-12158.6034,W,1,03,00.5,021.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203216.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203215.58,3648.8690,N,-12158.6034,W,1,03,00.5,021.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=78.88 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : TerrainNav update at nav time = 440.999789 : TerrainNav update at dvl time = 440.999789 : _navData-> (x,y) = (4074780.46, 591269.16) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203217.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074780.46 : Estimated East Bias at time = 0.00 : -591269.16 : Estimated Depth Bias at time = 0.00 : -75.95 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203216.58,3648.8684,N,-12158.6035,W,1,03,00.5,021.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=79.22 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203218.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203217.58,3648.8677,N,-12158.6035,W,1,03,00.5,021.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203219.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=79.59 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203218.58,3648.8671,N,-12158.6035,W,1,03,00.5,021.7,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 443.999584 : TerrainNav update at dvl time = 443.999584 : _navData-> (x,y) = (4074776.87, 591268.99) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203220.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074776.87 : Estimated East Bias at time = 0.00 : -591268.99 : Estimated Depth Bias at time = 0.00 : -76.74 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203219.58,3648.8664,N,-12158.6036,W,1,03,00.5,021.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=79.97 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203221.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203220.58,3648.8658,N,-12158.6037,W,1,03,00.5,020.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=80.36 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203222.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203221.58,3648.8651,N,-12158.6038,W,1,03,00.5,020.6,M,-99.9,M,,*49 : TerrainNav update at nav time = 446.999378 : TerrainNav update at dvl time = 446.999378 : _navData-> (x,y) = (4074773.15, 591268.56) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203223.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074773.15 : Estimated East Bias at time = 0.00 : -591268.56 : Estimated Depth Bias at time = 0.00 : -77.63 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203222.58,3648.8644,N,-12158.6040,W,1,03,00.5,020.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=80.77 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203224.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203223.58,3648.8637,N,-12158.6041,W,1,03,00.5,020.2,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=81.20 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203225.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203224.58,3648.8631,N,-12158.6043,W,1,03,00.5,019.9,M,-99.9,M,,*43 : TerrainNav update at nav time = 449.999173 : TerrainNav update at dvl time = 449.999173 : _navData-> (x,y) = (4074769.39, 591267.79) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203226.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074769.39 : Estimated East Bias at time = 0.00 : -591267.79 : Estimated Depth Bias at time = 0.00 : -78.42 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=81.65 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203225.58,3648.8624,N,-12158.6045,W,1,03,00.5,019.6,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203227.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203226.58,3648.8617,N,-12158.6048,W,1,03,00.5,019.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=82.10 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203228.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203227.58,3648.8610,N,-12158.6050,W,1,03,00.5,019.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=82.57 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : TerrainNav update at nav time = 452.998967 : TerrainNav update at dvl time = 452.998967 : _navData-> (x,y) = (4074765.63, 591266.69) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203229.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074765.63 : Estimated East Bias at time = 0.00 : -591266.69 : Estimated Depth Bias at time = 0.00 : -79.29 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203228.58,3648.8604,N,-12158.6054,W,1,03,00.5,018.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203230.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203229.58,3648.8597,N,-12158.6057,W,1,03,00.5,018.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=83.06 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203231.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203230.58,3648.8590,N,-12158.6060,W,1,03,00.5,018.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=83.55 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : TerrainNav update at nav time = 455.998762 : TerrainNav update at dvl time = 455.998762 : _navData-> (x,y) = (4074761.97, 591265.17) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203232.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074761.97 : Estimated East Bias at time = 0.00 : -591265.17 : Estimated Depth Bias at time = 0.00 : -80.24 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203231.58,3648.8584,N,-12158.6064,W,1,03,00.5,018.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203233.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=84.05 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203232.58,3648.8578,N,-12158.6068,W,1,03,00.5,018.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203234.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203233.58,3648.8572,N,-12158.6073,W,1,03,00.5,017.8,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=84.54 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : TerrainNav update at nav time = 458.998556 : TerrainNav update at dvl time = 458.998556 : _navData-> (x,y) = (4074758.57, 591263.27) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203235.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074758.57 : Estimated East Bias at time = 0.00 : -591263.27 : Estimated Depth Bias at time = 0.00 : -81.30 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203234.58,3648.8566,N,-12158.6078,W,1,03,00.5,017.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=85.05 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203236.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203235.58,3648.8560,N,-12158.6083,W,1,03,00.5,017.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203237.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203236.58,3648.8555,N,-12158.6088,W,1,03,00.5,017.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=85.55 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 461.998351 : TerrainNav update at dvl time = 461.998351 : _navData-> (x,y) = (4074755.38, 591261.05) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203238.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074755.38 : Estimated East Bias at time = 0.00 : -591261.05 : Estimated Depth Bias at time = 0.00 : -82.40 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203237.58,3648.8549,N,-12158.6093,W,1,03,00.5,017.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=86.06 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203239.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203238.57,3648.8543,N,-12158.6098,W,1,03,00.5,017.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203240.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=86.57 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203239.57,3648.8538,N,-12158.6104,W,1,03,00.5,016.8,M,-99.9,M,,*46 : TerrainNav update at nav time = 464.998145 : TerrainNav update at dvl time = 464.998145 : _navData-> (x,y) = (4074752.28, 591258.67) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203241.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074752.28 : Estimated East Bias at time = 0.00 : -591258.67 : Estimated Depth Bias at time = 0.00 : -83.50 : Estimated northing and easting = 0.00 : 0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203240.57,3648.8532,N,-12158.6109,W,1,03,00.5,016.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=87.09 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203242.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203241.57,3648.8527,N,-12158.6115,W,1,03,00.5,016.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=87.61 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203243.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203242.57,3648.8522,N,-12158.6121,W,1,03,00.5,016.6,M,-99.9,M,,*48 : TerrainNav update at nav time = 467.997940 : TerrainNav update at dvl time = 467.997940 : _navData-> (x,y) = (4074749.29, 591256.06) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203244.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074749.29 : Estimated East Bias at time = 0.00 : -591256.06 : Estimated Depth Bias at time = 0.00 : -84.66 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203243.57,3648.8516,N,-12158.6127,W,1,03,00.5,016.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=88.14 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203245.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203244.57,3648.8511,N,-12158.6134,W,1,03,00.5,016.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=88.67 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203246.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203245.57,3648.8506,N,-12158.6140,W,1,03,00.5,015.9,M,-99.9,M,,*42 : TerrainNav update at nav time = 470.997734 : TerrainNav update at dvl time = 470.997734 : _navData-> (x,y) = (4074746.44, 591253.21) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203247.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074746.44 : Estimated East Bias at time = 0.00 : -591253.21 : Estimated Depth Bias at time = 0.00 : -85.85 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=89.19 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203246.57,3648.8501,N,-12158.6147,W,1,03,00.5,015.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,203248.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203247.57,3648.8497,N,-12158.6154,W,1,03,00.5,015.6,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=89.72 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203249.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203248.57,3648.8492,N,-12158.6160,W,1,03,00.5,015.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=90.24 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : TerrainNav update at nav time = 473.997529 : TerrainNav update at dvl time = 473.997529 : _navData-> (x,y) = (4074743.76, 591250.24) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203250.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074743.76 : Estimated East Bias at time = 0.00 : -591250.24 : Estimated Depth Bias at time = 0.00 : -87.00 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203249.57,3648.8487,N,-12158.6167,W,1,03,00.5,015.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,203251.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203250.57,3648.8483,N,-12158.6174,W,1,03,00.5,015.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=90.76 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203252.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203251.57,3648.8478,N,-12158.6181,W,1,03,00.5,015.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=91.29 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : TerrainNav update at nav time = 476.997324 : TerrainNav update at dvl time = 476.997324 : _navData-> (x,y) = (4074741.20, 591247.14) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203253.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074741.20 : Estimated East Bias at time = 0.00 : -591247.14 : Estimated Depth Bias at time = 0.00 : -88.08 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203252.57,3648.8474,N,-12158.6188,W,1,03,00.5,014.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203254.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=91.81 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203253.57,3648.8469,N,-12158.6195,W,1,03,00.5,015.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203255.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203254.57,3648.8465,N,-12158.6202,W,1,03,00.5,015.0,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=92.34 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : TerrainNav update at nav time = 479.997118 : TerrainNav update at dvl time = 479.997118 : _navData-> (x,y) = (4074738.66, 591244.00) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203256.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074738.66 : Estimated East Bias at time = 0.00 : -591244.00 : Estimated Depth Bias at time = 0.00 : -89.10 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203255.57,3648.8460,N,-12158.6210,W,1,03,00.5,014.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=92.87 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203257.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203256.57,3648.8455,N,-12158.6217,W,1,03,00.5,014.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203258.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203257.57,3648.8451,N,-12158.6224,W,1,03,00.5,014.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=93.40 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : TerrainNav update at nav time = 482.996912 : TerrainNav update at dvl time = 482.996912 : _navData-> (x,y) = (4074736.11, 591240.79) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203259.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074736.11 : Estimated East Bias at time = 0.00 : -591240.79 : Estimated Depth Bias at time = 0.00 : -90.13 : Estimated northing and easting = 0.00 : 0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203258.57,3648.8446,N,-12158.6232,W,1,03,00.5,014.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=93.94 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203300.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203259.57,3648.8442,N,-12158.6239,W,1,03,00.5,014.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203301.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=94.48 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203300.57,3648.8437,N,-12158.6246,W,1,03,00.5,014.0,M,-99.9,M,,*4c : TerrainNav update at nav time = 485.996707 : TerrainNav update at dvl time = 485.996707 : _navData-> (x,y) = (4074733.57, 591237.51) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203302.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074733.57 : Estimated East Bias at time = 0.00 : -591237.51 : Estimated Depth Bias at time = 0.00 : -91.26 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203301.57,3648.8433,N,-12158.6254,W,1,03,00.5,013.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=95.01 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203303.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203302.57,3648.8428,N,-12158.6261,W,1,03,00.5,014.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=95.55 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203304.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203303.57,3648.8424,N,-12158.6268,W,1,03,00.5,013.7,M,-99.9,M,,*41 : TerrainNav update at nav time = 488.996501 : TerrainNav update at dvl time = 488.996501 : _navData-> (x,y) = (4074731.04, 591234.27) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203305.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074731.04 : Estimated East Bias at time = 0.00 : -591234.27 : Estimated Depth Bias at time = 0.00 : -92.40 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203304.57,3648.8419,N,-12158.6276,W,1,03,00.5,013.7,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=96.08 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203306.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203305.57,3648.8415,N,-12158.6283,W,1,03,00.5,013.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=96.61 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203307.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203306.57,3648.8410,N,-12158.6290,W,1,03,00.5,013.6,M,-99.9,M,,*45 : TerrainNav update at nav time = 491.996296 : TerrainNav update at dvl time = 491.996296 : _navData-> (x,y) = (4074728.50, 591231.01) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203308.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074728.50 : Estimated East Bias at time = 0.00 : -591231.01 : Estimated Depth Bias at time = 0.00 : -93.64 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=97.15 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203307.57,3648.8406,N,-12158.6298,W,1,03,00.5,013.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203309.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203308.57,3648.8401,N,-12158.6305,W,1,03,00.5,013.3,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=97.61 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203310.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203309.57,3648.8397,N,-12158.6313,W,1,03,00.5,013.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=98.23 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : TerrainNav update at nav time = 494.996090 : TerrainNav update at dvl time = 494.996090 : _navData-> (x,y) = (4074725.91, 591227.76) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203311.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074725.91 : Estimated East Bias at time = 0.00 : -591227.76 : Estimated Depth Bias at time = 0.00 : -94.82 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203310.57,3648.8392,N,-12158.6320,W,1,03,00.5,013.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203312.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203311.57,3648.8387,N,-12158.6327,W,1,03,00.5,014.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=98.78 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203313.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203312.57,3648.8382,N,-12158.6334,W,1,03,00.5,014.3,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=99.33 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : TerrainNav update at nav time = 497.995885 : TerrainNav update at dvl time = 497.995885 : _navData-> (x,y) = (4074723.16, 591224.60) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203314.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074723.16 : Estimated East Bias at time = 0.00 : -591224.60 : Estimated Depth Bias at time = 0.00 : -95.95 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203313.57,3648.8377,N,-12158.6341,W,1,03,00.5,014.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203315.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=99.88 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203314.57,3648.8372,N,-12158.6348,W,1,03,00.5,014.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203316.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203315.57,3648.8367,N,-12158.6355,W,1,03,00.5,014.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=100.43 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 500.995679 : TerrainNav update at dvl time = 500.995679 : _navData-> (x,y) = (4074720.30, 591221.54) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203317.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074720.30 : Estimated East Bias at time = 0.00 : -591221.54 : Estimated Depth Bias at time = 0.00 : -97.13 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203316.57,3648.8362,N,-12158.6362,W,1,03,00.5,014.8,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=100.97 horzlMode=4 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203318.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth has set the state to finished. : Waypoint (4074718.3, 591221.5), reached at t = 543.19 (wplog) : Vehicle Position error is (-0.8, 1.2) : LayeredControl::execute() -- (t = 543.192789) Behavior waypoint_depth:-1 has changed to state Finished : WaypointDepth initialization: Begin waypoint control at t= 543.19 (wplog) The current location (N,E) = 4074719.1 , 591220.3 (wplog) The next waypoint = 4074655.8 , 591163.7 (wplog) The bearing to the next w.p. is 221.8 Degrees. The distance to the next w.p. is 84.9 Meters. The slope to the next w.p. is -0.4592. The initial commanded depth is 101.0 meters. The final commanded depth is 140.0 meters. : LayeredControl::execute() -- (t = 543.192789) Behavior waypoint_depth:-1 has changed to state Active : NMEA Update: $GPGGA,203317.57,3648.8356,N,-12158.6369,W,1,03,00.5,015.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203319.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203318.57,3648.8351,N,-12158.6375,W,1,03,00.5,015.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=101.77 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : TerrainNav update at nav time = 503.995474 : TerrainNav update at dvl time = 503.995474 : _navData-> (x,y) = (4074717.38, 591218.55) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203320.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074717.38 : Estimated East Bias at time = 0.00 : -591218.55 : Estimated Depth Bias at time = 0.00 : -98.34 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203319.57,3648.8346,N,-12158.6382,W,1,03,00.5,015.4,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=102.66 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203321.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203320.57,3648.8341,N,-12158.6389,W,1,03,00.5,015.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203322.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=103.55 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203321.57,3648.8336,N,-12158.6396,W,1,03,00.5,015.9,M,-99.9,M,,*4d : TerrainNav update at nav time = 506.995268 : TerrainNav update at dvl time = 506.995268 : _navData-> (x,y) = (4074714.48, 591215.52) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203323.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074714.48 : Estimated East Bias at time = 0.00 : -591215.52 : Estimated Depth Bias at time = 0.00 : -99.55 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203322.57,3648.8331,N,-12158.6403,W,1,03,00.5,016.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=104.45 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203324.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203323.57,3648.8325,N,-12158.6410,W,1,03,00.5,016.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=105.35 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203325.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203324.57,3648.8320,N,-12158.6417,W,1,03,00.5,016.9,M,-99.9,M,,*42 : TerrainNav update at nav time = 509.995063 : TerrainNav update at dvl time = 509.995063 : _navData-> (x,y) = (4074711.56, 591212.45) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203326.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 0.00 : -4074711.56 : Estimated East Bias at time = 0.00 : -591212.45 : Estimated Depth Bias at time = 0.00 : -100.61 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,203325.57,3648.8315,N,-12158.6424,W,1,03,00.5,017.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=106.27 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203327.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203326.57,3648.8310,N,-12158.6431,W,1,03,00.5,017.0,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=107.18 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203328.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203327.57,3648.8304,N,-12158.6438,W,1,03,00.5,017.3,M,-99.9,M,,*41 : TerrainNav update at nav time = 512.994857 : TerrainNav update at dvl time = 512.994857 : _navData-> (x,y) = (4074708.60, 591209.40) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203329.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=108.08 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203328.57,3648.8299,N,-12158.6444,W,1,03,00.5,017.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,203330.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203329.57,3648.8294,N,-12158.6451,W,1,03,00.5,017.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=108.97 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203331.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203330.57,3648.8289,N,-12158.6458,W,1,03,00.5,016.7,M,-99.9,M,,*40 : Estimated North Bias at time = 512.99 : -7.85 : Estimated East Bias at time = 512.99 : 27.57 : Estimated Depth Bias at time = 512.99 : 0.54 : Estimated northing and easting = 4074700.75 : 591236.97 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=109.72 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : TerrainNav update at nav time = 515.994652 : TerrainNav update at dvl time = 515.994652 : _navData-> (x,y) = (4074705.65, 591206.49) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203332.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203331.57,3648.8283,N,-12158.6464,W,1,03,00.5,016.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203333.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203332.57,3648.8278,N,-12158.6470,W,1,03,00.5,016.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=110.09 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : Estimated North Bias at time = 515.99 : -9.74 : Estimated East Bias at time = 515.99 : 28.21 : Estimated Depth Bias at time = 515.99 : 0.70 : Estimated northing and easting = 4074695.92 : 591234.70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,203334.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203333.57,3648.8273,N,-12158.6477,W,1,03,00.5,016.5,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=110.68 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 518.994447 : TerrainNav update at dvl time = 518.994447 : _navData-> (x,y) = (4074702.76, 591203.72) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203335.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203334.58,3648.8268,N,-12158.6483,W,1,03,00.5,016.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203336.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=111.26 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203335.58,3648.8263,N,-12158.6489,W,1,03,00.5,016.2,M,-99.9,M,,*47 : Estimated North Bias at time = 518.99 : -11.64 : Estimated East Bias at time = 518.99 : 28.78 : Estimated Depth Bias at time = 518.99 : 0.92 : Estimated northing and easting = 4074691.13 : 591232.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,203337.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203336.58,3648.8258,N,-12158.6495,W,1,03,00.5,016.2,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=112.17 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : TerrainNav update at nav time = 521.994241 : TerrainNav update at dvl time = 521.994241 : _navData-> (x,y) = (4074699.90, 591201.03) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203338.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203337.58,3648.8253,N,-12158.6501,W,1,03,00.5,015.8,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=112.83 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203339.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203338.58,3648.8247,N,-12158.6507,W,1,03,00.5,016.1,M,-99.9,M,,*48 : Estimated North Bias at time = 521.99 : -9.84 : Estimated East Bias at time = 521.99 : 27.93 : Estimated Depth Bias at time = 521.99 : 1.01 : Estimated northing and easting = 4074690.05 : 591228.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,203340.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203339.58,3648.8242,N,-12158.6513,W,1,03,00.5,016.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=113.71 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : TerrainNav update at nav time = 524.994035 : TerrainNav update at dvl time = 524.994035 : _navData-> (x,y) = (4074696.92, 591198.36) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203341.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203340.58,3648.8237,N,-12158.6519,W,1,03,00.5,016.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=114.74 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203342.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203341.58,3648.8231,N,-12158.6525,W,1,03,00.5,016.7,M,-99.9,M,,*41 : Estimated North Bias at time = 524.99 : -4.66 : Estimated East Bias at time = 524.99 : 26.02 : Estimated Depth Bias at time = 524.99 : 0.69 : Estimated northing and easting = 4074692.26 : 591224.37 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,203343.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=115.62 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203342.58,3648.8226,N,-12158.6531,W,1,03,00.5,016.6,M,-99.9,M,,*40 : TerrainNav update at nav time = 527.993830 : TerrainNav update at dvl time = 527.993830 : _navData-> (x,y) = (4074693.85, 591195.69) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203344.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203343.58,3648.8220,N,-12158.6537,W,1,03,00.5,016.9,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=116.60 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203345.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203344.58,3648.8215,N,-12158.6543,W,1,03,00.5,016.6,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 527.99 : -4.00 : Estimated East Bias at time = 527.99 : 27.19 : Estimated Depth Bias at time = 527.99 : 0.20 : Estimated northing and easting = 4074689.86 : 591222.87 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=117.10 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203346.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203345.58,3648.8209,N,-12158.6550,W,1,03,00.5,016.7,M,-99.9,M,,*4c : TerrainNav update at nav time = 530.993624 : TerrainNav update at dvl time = 530.993624 : _navData-> (x,y) = (4074690.78, 591192.99) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203347.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203346.58,3648.8204,N,-12158.6556,W,1,03,00.5,016.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=117.88 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203348.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203347.58,3648.8198,N,-12158.6562,W,1,03,00.5,016.7,M,-99.9,M,,*44 : Estimated North Bias at time = 530.99 : -6.70 : Estimated East Bias at time = 530.99 : 29.01 : Estimated Depth Bias at time = 530.99 : 0.06 : Estimated northing and easting = 4074684.08 : 591222.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=118.59 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203349.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203348.58,3648.8193,N,-12158.6568,W,1,03,00.5,016.9,M,-99.9,M,,*44 : TerrainNav update at nav time = 533.993419 : TerrainNav update at dvl time = 533.993419 : _navData-> (x,y) = (4074687.67, 591190.39) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203350.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=118.77 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203349.58,3648.8187,N,-12158.6573,W,1,03,00.5,016.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203351.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203350.58,3648.8181,N,-12158.6579,W,1,03,00.5,016.7,M,-99.9,M,,*40 : Estimated North Bias at time = 533.99 : -9.62 : Estimated East Bias at time = 533.99 : 31.39 : Estimated Depth Bias at time = 533.99 : -0.16 : Estimated northing and easting = 4074678.06 : 591221.78 : LayeredControl _resolvedCommand - vertMode=2 vert=120.04 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,203352.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203351.58,3648.8176,N,-12158.6585,W,1,03,00.5,016.8,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=120.93 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : TerrainNav update at nav time = 536.993213 : TerrainNav update at dvl time = 536.993213 : _navData-> (x,y) = (4074684.50, 591187.81) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203353.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203352.58,3648.8170,N,-12158.6591,W,1,03,00.5,016.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203354.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203353.58,3648.8164,N,-12158.6597,W,1,03,00.5,016.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=121.77 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : Estimated North Bias at time = 536.99 : -8.30 : Estimated East Bias at time = 536.99 : 30.90 : Estimated Depth Bias at time = 536.99 : -0.24 : Estimated northing and easting = 4074676.21 : 591218.71 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,203355.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203354.58,3648.8158,N,-12158.6603,W,1,03,00.5,016.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=122.44 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : TerrainNav update at nav time = 539.993008 : TerrainNav update at dvl time = 539.993008 : _navData-> (x,y) = (4074681.30, 591185.23) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203356.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203355.58,3648.8153,N,-12158.6609,W,1,03,00.5,016.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203357.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=123.28 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203356.58,3648.8147,N,-12158.6614,W,1,03,00.5,016.8,M,-99.9,M,,*4b : Estimated North Bias at time = 539.99 : -8.38 : Estimated East Bias at time = 539.99 : 31.43 : Estimated Depth Bias at time = 539.99 : -0.34 : Estimated northing and easting = 4074672.93 : 591216.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,203358.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203357.58,3648.8141,N,-12158.6620,W,1,03,00.5,016.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=124.14 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : TerrainNav update at nav time = 543.002802 : TerrainNav update at dvl time = 543.002802 : _navData-> (x,y) = (4074678.12, 591182.65) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203359.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203358.58,3648.8136,N,-12158.6626,W,1,03,00.5,017.2,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=125.26 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203400.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203359.58,3648.8130,N,-12158.6632,W,1,03,00.5,017.2,M,-99.9,M,,*4b : Estimated North Bias at time = 543.00 : -6.58 : Estimated East Bias at time = 543.00 : 30.13 : Estimated Depth Bias at time = 543.00 : -0.25 : Estimated northing and easting = 4074671.53 : 591212.78 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,203401.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203400.58,3648.8124,N,-12158.6638,W,1,03,00.5,017.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=126.32 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : TerrainNav update at nav time = 546.002596 : TerrainNav update at dvl time = 546.002596 : _navData-> (x,y) = (4074674.97, 591180.11) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203402.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203401.58,3648.8119,N,-12158.6643,W,1,03,00.5,017.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=127.20 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203403.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203402.58,3648.8113,N,-12158.6649,W,1,03,00.5,017.6,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 546.00 : -2.77 : Estimated East Bias at time = 546.00 : 27.23 : Estimated Depth Bias at time = 546.00 : -0.10 : Estimated northing and easting = 4074672.20 : 591207.34 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,203404.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=128.13 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203403.58,3648.8108,N,-12158.6655,W,1,03,00.5,017.5,M,-99.9,M,,*4e : TerrainNav update at nav time = 549.002391 : TerrainNav update at dvl time = 549.002391 : _navData-> (x,y) = (4074671.83, 591177.54) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203405.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203404.58,3648.8102,N,-12158.6661,W,1,03,00.5,017.4,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=128.78 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203406.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203405.58,3648.8096,N,-12158.6667,W,1,03,00.5,017.5,M,-99.9,M,,*4f : Estimated North Bias at time = 549.00 : -0.52 : Estimated East Bias at time = 549.00 : 25.35 : Estimated Depth Bias at time = 549.00 : 0.08 : Estimated northing and easting = 4074671.31 : 591202.89 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=129.83 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203407.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203406.58,3648.8091,N,-12158.6672,W,1,03,00.5,017.7,M,-99.9,M,,*4d : TerrainNav update at nav time = 552.002185 : TerrainNav update at dvl time = 552.002185 : _navData-> (x,y) = (4074668.72, 591175.00) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203408.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203407.58,3648.8085,N,-12158.6678,W,1,03,00.5,017.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=130.42 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203409.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203408.58,3648.8080,N,-12158.6684,W,1,03,00.5,017.5,M,-99.9,M,,*48 : Estimated North Bias at time = 552.00 : -1.65 : Estimated East Bias at time = 552.00 : 25.89 : Estimated Depth Bias at time = 552.00 : 0.10 : Estimated northing and easting = 4074667.08 : 591200.89 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=131.35 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203410.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203409.58,3648.8074,N,-12158.6690,W,1,03,00.5,017.5,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 555.001980 : TerrainNav update at dvl time = 555.001980 : _navData-> (x,y) = (4074665.66, 591172.47) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203411.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=132.10 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203410.58,3648.8069,N,-12158.6695,W,1,03,00.5,017.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203412.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203411.58,3648.8064,N,-12158.6701,W,1,03,00.5,017.4,M,-99.9,M,,*47 : Estimated North Bias at time = 555.00 : 2.76 : Estimated East Bias at time = 555.00 : 22.77 : Estimated Depth Bias at time = 555.00 : 0.32 : Estimated northing and easting = 4074668.42 : 591195.24 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=132.98 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203413.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203412.58,3648.8058,N,-12158.6707,W,1,03,00.5,017.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=133.98 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : TerrainNav update at nav time = 558.001774 : TerrainNav update at dvl time = 558.001774 : _navData-> (x,y) = (4074662.62, 591169.95) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203414.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203413.58,3648.8053,N,-12158.6713,W,1,03,00.5,017.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203415.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203414.58,3648.8047,N,-12158.6718,W,1,03,00.5,017.5,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=134.84 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : Estimated North Bias at time = 558.00 : 5.83 : Estimated East Bias at time = 558.00 : 20.55 : Estimated Depth Bias at time = 558.00 : 0.51 : Estimated northing and easting = 4074668.45 : 591190.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,203416.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203415.58,3648.8042,N,-12158.6724,W,1,03,00.5,017.7,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=135.60 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : TerrainNav update at nav time = 561.001569 : TerrainNav update at dvl time = 561.001569 : _navData-> (x,y) = (4074659.61, 591167.39) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203417.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203416.58,3648.8037,N,-12158.6730,W,1,03,00.5,017.4,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203418.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=136.55 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203417.58,3648.8031,N,-12158.6736,W,1,03,00.5,017.4,M,-99.9,M,,*45 : Estimated North Bias at time = 561.00 : 8.82 : Estimated East Bias at time = 561.00 : 18.38 : Estimated Depth Bias at time = 561.00 : 0.79 : Estimated northing and easting = 4074668.43 : 591185.77 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,203419.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203418.58,3648.8026,N,-12158.6742,W,1,03,00.5,017.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=137.38 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : TerrainNav update at nav time = 564.001363 : TerrainNav update at dvl time = 564.001363 : _navData-> (x,y) = (4074656.64, 591164.79) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203420.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203419.58,3648.8021,N,-12158.6748,W,1,03,00.5,017.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=138.01 horzlMode=4 horz=3.87 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203421.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth has set the state to finished. : Waypoint (4074655.8, 591163.7), reached at t = 606.20 (wplog) : Vehicle Position error is (0.4, 0.0) : LayeredControl::execute() -- (t = 606.198472) Behavior waypoint_depth:-1 has changed to state Finished : WaypointDepth initialization: Begin waypoint control at t= 606.20 (wplog) The current location (N,E) = 4074655.5 , 591163.8 (wplog) The next waypoint = 4074683.8 , 591058.7 (wplog) The bearing to the next w.p. is 285.1 Degrees. The distance to the next w.p. is 108.8 Meters. The slope to the next w.p. is -0.2849. The initial commanded depth is 140.0 meters. The final commanded depth is 171.0 meters. : LayeredControl::execute() -- (t = 606.198472) Behavior waypoint_depth:-1 has changed to state Active : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203420.58,3648.8015,N,-12158.6754,W,1,03,00.5,017.2,M,-99.9,M,,*45 : Estimated North Bias at time = 564.00 : 10.86 : Estimated East Bias at time = 564.00 : 16.83 : Estimated Depth Bias at time = 564.00 : 1.02 : Estimated northing and easting = 4074667.51 : 591181.62 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,203422.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203421.58,3648.8010,N,-12158.6760,W,1,03,00.5,017.3,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=138.99 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : TerrainNav update at nav time = 567.001158 : TerrainNav update at dvl time = 567.001158 : _navData-> (x,y) = (4074653.68, 591162.19) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203423.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203422.58,3648.8005,N,-12158.6766,W,1,03,00.5,017.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=139.71 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203424.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203423.58,3648.8000,N,-12158.6772,W,1,03,00.5,017.2,M,-99.9,M,,*46 : Estimated North Bias at time = 567.00 : 13.94 : Estimated East Bias at time = 567.00 : 14.50 : Estimated Depth Bias at time = 567.00 : 1.35 : Estimated northing and easting = 4074667.62 : 591176.69 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203425.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=140.61 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203424.58,3648.7995,N,-12158.6779,W,1,03,00.5,017.2,M,-99.9,M,,*40 : TerrainNav update at nav time = 570.000952 : TerrainNav update at dvl time = 570.000952 : _navData-> (x,y) = (4074651.01, 591159.28) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203426.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203425.58,3648.7991,N,-12158.6786,W,1,03,00.5,017.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=141.05 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203427.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203426.58,3648.7988,N,-12158.6793,W,1,03,00.5,017.5,M,-99.9,M,,*4d : Estimated North Bias at time = 570.00 : 15.94 : Estimated East Bias at time = 570.00 : 13.19 : Estimated Depth Bias at time = 570.00 : 1.54 : Estimated northing and easting = 4074666.96 : 591172.47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=141.43 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203428.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203427.58,3648.7985,N,-12158.6801,W,1,03,00.5,018.0,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 573.000747 : TerrainNav update at dvl time = 573.000747 : _navData-> (x,y) = (4074649.34, 591155.81) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203429.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203428.58,3648.7983,N,-12158.6810,W,1,03,00.5,018.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=141.86 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203430.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203429.58,3648.7983,N,-12158.6818,W,1,03,00.5,018.9,M,-99.9,M,,*46 : Estimated North Bias at time = 573.00 : 16.42 : Estimated East Bias at time = 573.00 : 12.70 : Estimated Depth Bias at time = 573.00 : 1.60 : Estimated northing and easting = 4074665.76 : 591168.52 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=142.32 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203431.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203430.58,3648.7983,N,-12158.6826,W,1,03,00.5,019.0,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 576.000541 : TerrainNav update at dvl time = 576.000541 : _navData-> (x,y) = (4074649.24, 591152.21) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203432.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=142.78 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203431.58,3648.7984,N,-12158.6834,W,1,03,00.5,019.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203433.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203432.58,3648.7986,N,-12158.6841,W,1,03,00.5,019.8,M,-99.9,M,,*45 : Estimated North Bias at time = 576.00 : 18.28 : Estimated East Bias at time = 576.00 : 10.71 : Estimated Depth Bias at time = 576.00 : 1.71 : Estimated northing and easting = 4074667.52 : 591162.92 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=143.23 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203434.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203433.58,3648.7989,N,-12158.6847,W,1,03,00.5,019.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=143.62 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : TerrainNav update at nav time = 579.000336 : TerrainNav update at dvl time = 579.000336 : _navData-> (x,y) = (4074650.53, 591149.26) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203435.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203434.58,3648.7992,N,-12158.6852,W,1,03,00.5,019.1,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203436.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 579.00 : 23.35 : Estimated East Bias at time = 579.00 : 6.32 : Estimated Depth Bias at time = 579.00 : 1.91 : Estimated northing and easting = 4074673.88 : 591155.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203435.58,3648.7995,N,-12158.6858,W,1,03,00.5,018.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=143.99 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203437.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203436.58,3648.7999,N,-12158.6862,W,1,03,00.5,018.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=144.34 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : TerrainNav update at nav time = 582.000130 : TerrainNav update at dvl time = 582.000130 : _navData-> (x,y) = (4074652.56, 591147.00) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203438.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203437.58,3648.8003,N,-12158.6867,W,1,03,00.5,018.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203439.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 582.00 : 41.29 : Estimated East Bias at time = 582.00 : -5.51 : Estimated Depth Bias at time = 582.00 : 2.27 : Estimated northing and easting = 4074693.84 : 591141.49 : LayeredControl _resolvedCommand - vertMode=2 vert=144.68 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203438.58,3648.8008,N,-12158.6872,W,1,03,00.5,017.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,203440.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203439.58,3648.8012,N,-12158.6876,W,1,03,00.5,017.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=145.04 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : TerrainNav update at nav time = 584.999925 : TerrainNav update at dvl time = 584.999925 : _navData-> (x,y) = (4074654.92, 591144.88) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203441.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203440.58,3648.8016,N,-12158.6881,W,1,03,00.5,016.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=145.42 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203442.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 585.00 : 57.04 : Estimated East Bias at time = 585.00 : -13.71 : Estimated Depth Bias at time = 585.00 : 2.13 : Estimated northing and easting = 4074711.96 : 591131.18 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203441.58,3648.8021,N,-12158.6887,W,1,03,00.5,016.0,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203443.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203442.58,3648.8026,N,-12158.6893,W,1,03,00.5,015.8,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=145.85 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : TerrainNav update at nav time = 587.999719 : TerrainNav update at dvl time = 587.999719 : _navData-> (x,y) = (4074657.53, 591142.34) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203444.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203443.58,3648.8031,N,-12158.6899,W,1,03,00.5,016.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=146.31 horzlMode=4 horz=4.98 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 = 588.00 : 65.16 : Estimated East Bias at time = 588.00 : -16.15 : Estimated Depth Bias at time = 588.00 : 1.71 : Estimated northing and easting = 4074722.70 : 591126.19 : NMEA Update: $GPGGA,203444.58,3648.8035,N,-12158.6906,W,1,03,00.5,015.9,M,-99.9,M,,*45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,203446.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=146.79 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203445.58,3648.8040,N,-12158.6913,W,1,03,00.5,015.6,M,-99.9,M,,*4d : TerrainNav update at nav time = 590.999514 : TerrainNav update at dvl time = 590.999514 : _navData-> (x,y) = (4074660.04, 591139.27) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203447.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203446.58,3648.8044,N,-12158.6920,W,1,03,00.5,015.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=147.29 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203448.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 591.00 : 67.64 : Estimated East Bias at time = 591.00 : -15.85 : Estimated Depth Bias at time = 591.00 : 1.58 : Estimated northing and easting = 4074727.68 : 591123.43 : NMEA Update: $GPGGA,203447.58,3648.8049,N,-12158.6927,W,1,03,00.5,015.3,M,-99.9,M,,*44 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 66.40 dEasting = -14.05 : LayeredControl _resolvedCommand - vertMode=2 vert=147.81 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203449.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203448.58,3648.8053,N,-12158.6935,W,1,03,00.5,015.1,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 593.999308 : TerrainNav update at dvl time = 593.999308 : _navData-> (x,y) = (4074662.27, 591135.82) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203450.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203449.58,3648.8056,N,-12158.6943,W,1,03,00.5,014.9,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=148.34 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203451.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 594.00 : 68.89 : Estimated East Bias at time = 594.00 : -15.27 : Estimated Depth Bias at time = 594.00 : 1.54 : Estimated northing and easting = 4074731.16 : 591120.55 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 68.04 dEasting = -13.53 : NMEA Update: $GPGGA,203450.58,3648.8060,N,-12158.6952,W,1,03,00.5,014.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=148.89 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203452.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203451.58,3648.8062,N,-12158.6960,W,1,03,00.5,014.6,M,-99.9,M,,*4d : TerrainNav update at nav time = 596.999103 : TerrainNav update at dvl time = 596.999103 : _navData-> (x,y) = (4074663.82, 591131.97) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203453.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=149.44 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203452.58,3648.8064,N,-12158.6969,W,1,03,00.5,014.1,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203454.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 597.00 : 70.23 : Estimated East Bias at time = 597.00 : -14.57 : Estimated Depth Bias at time = 597.00 : 1.52 : Estimated northing and easting = 4074734.05 : 591117.41 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 69.98 dEasting = -12.69 : NMEA Update: $GPGGA,203453.58,3648.8065,N,-12158.6978,W,1,03,00.5,014.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=149.97 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203455.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203454.58,3648.8065,N,-12158.6987,W,1,03,00.5,014.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=150.45 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : TerrainNav update at nav time = 599.998897 : TerrainNav update at dvl time = 599.998897 : _navData-> (x,y) = (4074663.89, 591128.05) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203456.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203455.58,3648.8063,N,-12158.6995,W,1,03,00.5,014.3,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203457.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 600.00 : 71.96 : Estimated East Bias at time = 600.00 : -13.91 : Estimated Depth Bias at time = 600.00 : 1.56 : Estimated northing and easting = 4074735.85 : 591114.14 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 72.53 dEasting = -12.34 : NMEA Update: $GPGGA,203456.58,3648.8061,N,-12158.7003,W,1,03,00.5,014.7,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=150.84 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203458.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203457.58,3648.8058,N,-12158.7009,W,1,03,00.5,014.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=151.14 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : TerrainNav update at nav time = 602.998692 : TerrainNav update at dvl time = 602.998692 : _navData-> (x,y) = (4074662.34, 591124.98) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203459.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203458.58,3648.8054,N,-12158.7015,W,1,03,00.5,014.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203500.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=151.36 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : Estimated North Bias at time = 603.00 : 54.32 : Estimated East Bias at time = 603.00 : -11.42 : Estimated Depth Bias at time = 603.00 : 3.03 : Estimated northing and easting = 4074716.66 : 591113.57 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 55.36 dEasting = -10.39 : NMEA Update: $GPGGA,203459.58,3648.8050,N,-12158.7020,W,1,03,00.5,015.3,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203501.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203500.58,3648.8046,N,-12158.7024,W,1,03,00.5,015.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=151.49 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : TerrainNav update at nav time = 605.998486 : TerrainNav update at dvl time = 605.998486 : _navData-> (x,y) = (4074659.97, 591123.11) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203502.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203501.58,3648.8041,N,-12158.7027,W,1,03,00.5,015.3,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=151.57 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203503.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 606.00 : 54.78 : Estimated East Bias at time = 606.00 : -12.28 : Estimated Depth Bias at time = 606.00 : 3.00 : Estimated northing and easting = 4074714.75 : 591110.83 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 56.02 dEasting = -11.72 : NMEA Update: $GPGGA,203502.58,3648.8037,N,-12158.7029,W,1,03,00.5,015.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203504.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203503.58,3648.8032,N,-12158.7032,W,1,03,00.5,015.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=151.60 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : TerrainNav update at nav time = 608.998281 : TerrainNav update at dvl time = 608.998281 : _navData-> (x,y) = (4074657.23, 591122.05) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203505.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203504.57,3648.8026,N,-12158.7034,W,1,03,00.5,015.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=151.61 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203506.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 609.00 : 53.95 : Estimated East Bias at time = 609.00 : -12.82 : Estimated Depth Bias at time = 609.00 : 3.01 : Estimated northing and easting = 4074711.18 : 591109.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203505.57,3648.8021,N,-12158.7035,W,1,03,00.5,015.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203507.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=151.59 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203506.57,3648.8015,N,-12158.7037,W,1,03,00.5,016.0,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 611.998075 : TerrainNav update at dvl time = 611.998075 : _navData-> (x,y) = (4074654.09, 591121.32) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203508.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203507.57,3648.8009,N,-12158.7039,W,1,03,00.5,015.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=151.56 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203509.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 612.00 : 52.28 : Estimated East Bias at time = 612.00 : -12.89 : Estimated Depth Bias at time = 612.00 : 3.05 : Estimated northing and easting = 4074706.37 : 591108.43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203508.57,3648.8003,N,-12158.7040,W,1,03,00.5,016.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=151.54 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203510.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203509.57,3648.7997,N,-12158.7042,W,1,03,00.5,016.2,M,-99.9,M,,*4c : TerrainNav update at nav time = 614.997870 : TerrainNav update at dvl time = 614.997870 : _navData-> (x,y) = (4074650.61, 591120.56) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203511.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203510.57,3648.7990,N,-12158.7044,W,1,03,00.5,016.8,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=151.52 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203512.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 615.00 : 47.75 : Estimated East Bias at time = 615.00 : -11.55 : Estimated Depth Bias at time = 615.00 : 3.18 : Estimated northing and easting = 4074698.36 : 591109.01 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203511.57,3648.7983,N,-12158.7046,W,1,03,00.5,016.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=151.51 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203513.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203512.57,3648.7977,N,-12158.7048,W,1,03,00.5,017.0,M,-99.9,M,,*41 : TerrainNav update at nav time = 617.997664 : TerrainNav update at dvl time = 617.997664 : _navData-> (x,y) = (4074646.86, 591119.66) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203514.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=151.49 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203513.57,3648.7970,N,-12158.7051,W,1,03,00.5,017.7,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203515.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 618.00 : 43.94 : Estimated East Bias at time = 618.00 : -10.61 : Estimated Depth Bias at time = 618.00 : 3.33 : Estimated northing and easting = 4074690.80 : 591109.04 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 45.76 dEasting = -10.18 : NMEA Update: $GPGGA,203514.57,3648.7963,N,-12158.7053,W,1,03,00.5,018.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=151.48 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203516.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203515.57,3648.7956,N,-12158.7055,W,1,03,00.5,018.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=151.48 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : TerrainNav update at nav time = 620.997459 : TerrainNav update at dvl time = 620.997459 : _navData-> (x,y) = (4074642.94, 591118.66) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203517.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203516.57,3648.7949,N,-12158.7058,W,1,03,00.5,018.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,203518.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 621.00 : 43.54 : Estimated East Bias at time = 621.00 : -11.22 : Estimated Depth Bias at time = 621.00 : 3.38 : Estimated northing and easting = 4074686.48 : 591107.44 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 45.37 dEasting = -10.61 : NMEA Update: $GPGGA,203517.57,3648.7942,N,-12158.7061,W,1,03,00.5,018.9,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=151.51 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203519.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203518.57,3648.7935,N,-12158.7065,W,1,03,00.5,019.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=151.60 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : TerrainNav update at nav time = 623.997253 : TerrainNav update at dvl time = 623.997253 : _navData-> (x,y) = (4074639.11, 591117.12) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203520.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203519.57,3648.7928,N,-12158.7069,W,1,03,00.5,019.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203521.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=151.76 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : Estimated North Bias at time = 624.00 : 43.85 : Estimated East Bias at time = 624.00 : -11.75 : Estimated Depth Bias at time = 624.00 : 3.39 : Estimated northing and easting = 4074682.96 : 591105.37 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 45.46 dEasting = -10.70 : NMEA Update: $GPGGA,203520.57,3648.7922,N,-12158.7074,W,1,03,00.5,020.1,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203522.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203521.57,3648.7917,N,-12158.7081,W,1,03,00.5,020.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=152.01 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : TerrainNav update at nav time = 626.997048 : TerrainNav update at dvl time = 626.997048 : _navData-> (x,y) = (4074635.95, 591114.57) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203523.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203522.57,3648.7912,N,-12158.7088,W,1,03,00.5,021.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=152.32 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203524.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 627.00 : 43.82 : Estimated East Bias at time = 627.00 : -11.93 : Estimated Depth Bias at time = 627.00 : 3.39 : Estimated northing and easting = 4074679.77 : 591102.64 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 44.86 dEasting = -10.45 : NMEA Update: $GPGGA,203523.57,3648.7908,N,-12158.7095,W,1,03,00.5,021.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203525.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203524.57,3648.7905,N,-12158.7102,W,1,03,00.5,022.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=152.69 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 629.996842 : TerrainNav update at dvl time = 629.996842 : _navData-> (x,y) = (4074634.04, 591111.23) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203526.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203525.57,3648.7903,N,-12158.7110,W,1,03,00.5,023.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=153.10 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203527.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 630.00 : 43.40 : Estimated East Bias at time = 630.00 : -11.86 : Estimated Depth Bias at time = 630.00 : 3.38 : Estimated northing and easting = 4074677.44 : 591099.38 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 43.94 dEasting = -10.17 : NMEA Update: $GPGGA,203526.57,3648.7901,N,-12158.7119,W,1,03,00.5,023.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203528.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=153.54 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203527.57,3648.7899,N,-12158.7127,W,1,03,00.5,023.4,M,-99.9,M,,*4d : TerrainNav update at nav time = 632.996637 : TerrainNav update at dvl time = 632.996637 : _navData-> (x,y) = (4074633.09, 591107.56) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203529.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203528.57,3648.7898,N,-12158.7135,W,1,03,00.5,023.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=154.00 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203530.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 633.00 : 43.44 : Estimated East Bias at time = 633.00 : -11.85 : Estimated Depth Bias at time = 633.00 : 3.38 : Estimated northing and easting = 4074676.53 : 591095.71 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 43.67 dEasting = -10.07 : NMEA Update: $GPGGA,203529.57,3648.7898,N,-12158.7144,W,1,03,00.5,023.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=154.49 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203531.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203530.57,3648.7897,N,-12158.7153,W,1,03,00.5,023.7,M,-99.9,M,,*45 : TerrainNav update at nav time = 635.996431 : TerrainNav update at dvl time = 635.996431 : _navData-> (x,y) = (4074632.70, 591103.69) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203532.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203531.57,3648.7897,N,-12158.7162,W,1,03,00.5,023.8,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=154.98 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203533.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 636.00 : 43.90 : Estimated East Bias at time = 636.00 : -11.82 : Estimated Depth Bias at time = 636.00 : 3.38 : Estimated northing and easting = 4074676.60 : 591091.87 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 43.98 dEasting = -9.97 : NMEA Update: $GPGGA,203532.57,3648.7897,N,-12158.7171,W,1,03,00.5,023.8,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=155.49 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203534.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203533.57,3648.7896,N,-12158.7180,W,1,03,00.5,023.8,M,-99.9,M,,*46 : TerrainNav update at nav time = 638.996226 : TerrainNav update at dvl time = 638.996226 : _navData-> (x,y) = (4074632.60, 591099.68) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203535.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=156.01 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203534.57,3648.7897,N,-12158.7189,W,1,03,00.5,024.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203536.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 639.00 : 44.70 : Estimated East Bias at time = 639.00 : -11.70 : Estimated Depth Bias at time = 639.00 : 3.38 : Estimated northing and easting = 4074677.30 : 591087.98 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 44.70 dEasting = -9.79 : NMEA Update: $GPGGA,203535.57,3648.7897,N,-12158.7198,W,1,03,00.5,024.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=156.54 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203537.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203536.57,3648.7897,N,-12158.7207,W,1,03,00.5,024.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=157.07 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : TerrainNav update at nav time = 641.996020 : TerrainNav update at dvl time = 641.996020 : _navData-> (x,y) = (4074632.64, 591095.56) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203538.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203537.57,3648.7897,N,-12158.7216,W,1,03,00.5,024.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203539.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 642.00 : 45.79 : Estimated East Bias at time = 642.00 : -11.50 : Estimated Depth Bias at time = 642.00 : 3.37 : Estimated northing and easting = 4074678.43 : 591084.06 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 45.77 dEasting = -9.55 : NMEA Update: $GPGGA,203538.57,3648.7897,N,-12158.7226,W,1,03,00.5,024.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=157.61 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203540.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203539.57,3648.7897,N,-12158.7235,W,1,03,00.5,024.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=158.15 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : TerrainNav update at nav time = 644.995815 : TerrainNav update at dvl time = 644.995815 : _navData-> (x,y) = (4074632.68, 591091.37) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203541.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203540.57,3648.7898,N,-12158.7245,W,1,03,00.5,024.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203542.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=158.70 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : Estimated North Bias at time = 645.00 : 47.12 : Estimated East Bias at time = 645.00 : -11.24 : Estimated Depth Bias at time = 645.00 : 3.37 : Estimated northing and easting = 4074679.79 : 591080.12 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 47.09 dEasting = -9.26 : NMEA Update: $GPGGA,203541.57,3648.7898,N,-12158.7254,W,1,03,00.5,024.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203543.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203542.57,3648.7898,N,-12158.7264,W,1,03,00.5,024.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=159.25 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : TerrainNav update at nav time = 647.995609 : TerrainNav update at dvl time = 647.995609 : _navData-> (x,y) = (4074632.71, 591087.11) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203544.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203543.57,3648.7898,N,-12158.7273,W,1,03,00.5,024.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=159.79 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203545.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 648.00 : 48.43 : Estimated East Bias at time = 648.00 : -11.08 : Estimated Depth Bias at time = 648.00 : 3.37 : Estimated northing and easting = 4074681.14 : 591076.03 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 48.43 dEasting = -9.08 : NMEA Update: $GPGGA,203544.57,3648.7898,N,-12158.7283,W,1,03,00.5,024.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203546.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203545.57,3648.7898,N,-12158.7293,W,1,03,00.5,024.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=160.35 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 650.995404 : TerrainNav update at dvl time = 650.995404 : _navData-> (x,y) = (4074632.73, 591082.81) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203547.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203546.57,3648.7898,N,-12158.7302,W,1,03,00.5,024.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=160.90 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203548.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 651.00 : 49.82 : Estimated East Bias at time = 651.00 : -10.98 : Estimated Depth Bias at time = 651.00 : 3.36 : Estimated northing and easting = 4074682.55 : 591071.83 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 49.80 dEasting = -8.95 : NMEA Update: $GPGGA,203547.57,3648.7898,N,-12158.7312,W,1,03,00.5,024.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203549.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=161.46 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203548.57,3648.7899,N,-12158.7322,W,1,03,00.5,024.7,M,-99.9,M,,*47 : TerrainNav update at nav time = 653.995198 : TerrainNav update at dvl time = 653.995198 : _navData-> (x,y) = (4074632.76, 591078.46) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203550.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203549.57,3648.7899,N,-12158.7332,W,1,03,00.5,025.0,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=162.03 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203551.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 654.00 : 51.23 : Estimated East Bias at time = 654.00 : -10.78 : Estimated Depth Bias at time = 654.00 : 3.35 : Estimated northing and easting = 4074683.99 : 591067.68 : NMEA Update: $GPGGA,203550.57,3648.7899,N,-12158.7342,W,1,03,00.5,024.9,M,-99.9,M,,*46 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 51.23 dEasting = -8.44 : LayeredControl _resolvedCommand - vertMode=2 vert=162.59 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203552.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203551.57,3648.7899,N,-12158.7351,W,1,03,00.5,024.9,M,-99.9,M,,*45 : TerrainNav update at nav time = 656.994993 : TerrainNav update at dvl time = 656.994993 : _navData-> (x,y) = (4074632.75, 591074.06) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203553.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203552.57,3648.7899,N,-12158.7361,W,1,03,00.5,025.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=163.16 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203554.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 656.99 : 52.93 : Estimated East Bias at time = 656.99 : -10.57 : Estimated Depth Bias at time = 656.99 : 3.34 : Estimated northing and easting = 4074685.67 : 591063.50 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 52.94 dEasting = -8.49 : NMEA Update: $GPGGA,203553.57,3648.7899,N,-12158.7371,W,1,03,00.5,024.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=163.72 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203555.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203554.57,3648.7899,N,-12158.7381,W,1,03,00.5,024.7,M,-99.9,M,,*43 : TerrainNav update at nav time = 659.994787 : TerrainNav update at dvl time = 659.994787 : _navData-> (x,y) = (4074632.71, 591069.62) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203556.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=164.29 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203555.57,3648.7899,N,-12158.7391,W,1,03,00.5,025.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203557.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 659.99 : 54.53 : Estimated East Bias at time = 659.99 : -10.42 : Estimated Depth Bias at time = 659.99 : 3.32 : Estimated northing and easting = 4074687.23 : 591059.20 : NMEA Update: $GPGGA,203556.57,3648.7899,N,-12158.7401,W,1,03,00.5,025.0,M,-99.9,M,,*48 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 54.57 dEasting = -8.07 : LayeredControl _resolvedCommand - vertMode=2 vert=164.86 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203558.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203557.57,3648.7899,N,-12158.7411,W,1,03,00.5,025.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=165.42 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : TerrainNav update at nav time = 662.994582 : TerrainNav update at dvl time = 662.994582 : _navData-> (x,y) = (4074632.63, 591065.21) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203559.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203558.57,3648.7899,N,-12158.7421,W,1,03,00.5,025.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203600.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 662.99 : 56.46 : Estimated East Bias at time = 662.99 : -10.23 : Estimated Depth Bias at time = 662.99 : 3.30 : Estimated northing and easting = 4074689.08 : 591054.98 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 56.53 dEasting = -8.17 : NMEA Update: $GPGGA,203559.57,3648.7898,N,-12158.7431,W,1,03,00.5,024.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=165.98 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203601.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203600.58,3648.7898,N,-12158.7441,W,1,03,00.5,024.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=166.53 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : TerrainNav update at nav time = 665.994376 : TerrainNav update at dvl time = 665.994376 : _navData-> (x,y) = (4074632.45, 591060.83) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203602.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203601.58,3648.7898,N,-12158.7450,W,1,03,00.5,024.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203603.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=167.09 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : Estimated North Bias at time = 665.99 : 58.57 : Estimated East Bias at time = 665.99 : -10.12 : Estimated Depth Bias at time = 665.99 : 3.27 : Estimated northing and easting = 4074691.02 : 591050.71 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 58.70 dEasting = -8.08 : NMEA Update: $GPGGA,203602.58,3648.7897,N,-12158.7460,W,1,03,00.5,024.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203604.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : NMEA Update: $GPGGA,203603.58,3648.7897,N,-12158.7470,W,1,03,00.5,024.5,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=140.00 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : 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) = (4074632.13, 591056.47) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203605.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : NMEA Update: $GPGGA,203604.58,3648.7896,N,-12158.7480,W,1,03,00.5,024.4,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. : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=140.00 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203606.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : Estimated North Bias at time = 668.99 : 60.74 : Estimated East Bias at time = 668.99 : -9.99 : Estimated Depth Bias at time = 668.99 : 3.23 : Estimated northing and easting = 4074692.87 : 591046.47 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 60.94 dEasting = -7.97 : NMEA Update: $GPGGA,203605.58,3648.7896,N,-12158.7489,W,1,03,00.5,024.1,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. : AshtechGps::processRecord() - $GPGGA,203607.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : NMEA Update: $GPGGA,203606.58,3648.7895,N,-12158.7499,W,1,03,00.5,024.3,M,-99.9,M,,*4e : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=140.00 horzlMode=4 horz=4.98 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. : TerrainNav update at nav time = 671.993965 : TerrainNav update at dvl time = 671.993965 : _navData-> (x,y) = (4074631.69, 591052.13) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203608.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203607.58,3648.7894,N,-12158.7509,W,1,03,00.5,024.6,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=140.00 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,203609.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : Estimated North Bias at time = 671.99 : 62.59 : Estimated East Bias at time = 671.99 : -9.95 : Estimated Depth Bias at time = 671.99 : 3.20 : Estimated northing and easting = 4074694.28 : 591042.18 : NMEA Update: $GPGGA,203608.58,3648.7893,N,-12158.7519,W,1,03,00.5,024.6,M,-99.9,M,,*4a : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 62.88 dEasting = -7.62 : 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,203610.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : LayeredControl _resolvedCommand - vertMode=2 vert=140.00 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203609.58,3648.7892,N,-12158.7528,W,1,03,00.5,025.2,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. : 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) = (4074631.10, 591047.75) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203611.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : NMEA Update: $GPGGA,203610.58,3648.7891,N,-12158.7538,W,1,03,00.5,025.7,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=140.00 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : AshtechGps::processRecord() - $GPGGA,203612.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : Estimated North Bias at time = 674.99 : 64.73 : Estimated East Bias at time = 674.99 : -9.94 : Estimated Depth Bias at time = 674.99 : 3.17 : Estimated northing and easting = 4074695.83 : 591037.82 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 65.02 dEasting = -7.90 : NMEA Update: $GPGGA,203611.58,3648.7890,N,-12158.7548,W,1,03,00.5,025.7,M,-99.9,M,,*45 : 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=140.00 horzlMode=4 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203613.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : NMEA Update: $GPGGA,203612.58,3648.7889,N,-12158.7558,W,1,03,00.5,025.8,M,-99.9,M,,*40 : WaypointDepth: Maximum cross-track error exceeded. Resetting the commanded depth to minDepth. : WaypointDepth has set the state to finished. : Waypoint (4074683.8, 591058.7), reached at t = 718.40 (wplog) : Vehicle Position error is (53.1, 14.4) : LayeredControl::execute() -- (t = 718.400786) Behavior waypoint_depth:-1 has changed to state Finished : WaypointDepth initialization: Begin waypoint control at t= 718.40 (wplog) The current location (N,E) = 4074630.6 , 591044.3 (wplog) The next waypoint = 4074822.7 , 591087.6 (wplog) The bearing to the next w.p. is 12.7 Degrees. The distance to the next w.p. is 196.9 Meters. The slope to the next w.p. is 0.2337. The initial commanded depth is 171.0 meters. The final commanded depth is 125.0 meters. : LayeredControl::execute() -- (t = 718.400786) Behavior waypoint_depth:-1 has changed to state Active : TerrainNav update at nav time = 677.993554 : TerrainNav update at dvl time = 677.993554 : _navData-> (x,y) = (4074630.51, 591043.42) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203614.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203613.58,3648.7888,N,-12158.7567,W,1,03,00.5,026.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=171.11 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203615.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 677.99 : 66.93 : Estimated East Bias at time = 677.99 : -10.05 : Estimated Depth Bias at time = 677.99 : 3.13 : Estimated northing and easting = 4074697.45 : 591033.37 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 67.18 dEasting = -8.87 : NMEA Update: $GPGGA,203614.58,3648.7887,N,-12158.7572,W,1,03,00.5,027.0,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=171.22 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203616.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203615.58,3648.7887,N,-12158.7580,W,1,03,00.5,027.4,M,-99.9,M,,*42 : TerrainNav update at nav time = 680.993349 : TerrainNav update at dvl time = 680.993349 : _navData-> (x,y) = (4074630.12, 591040.13) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203617.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=171.34 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203616.58,3648.7886,N,-12158.7589,W,1,03,00.5,027.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203618.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 680.99 : 68.06 : Estimated East Bias at time = 680.99 : -11.09 : Estimated Depth Bias at time = 680.99 : 3.13 : Estimated northing and easting = 4074698.18 : 591029.04 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 68.03 dEasting = -9.37 : NMEA Update: $GPGGA,203617.58,3648.7887,N,-12158.7597,W,1,03,00.5,028.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=171.41 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203619.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203618.58,3648.7888,N,-12158.7605,W,1,03,00.5,029.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=171.43 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : TerrainNav update at nav time = 683.993143 : TerrainNav update at dvl time = 683.993143 : _navData-> (x,y) = (4074630.50, 591036.48) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203620.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203619.58,3648.7890,N,-12158.7614,W,1,03,00.5,029.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203621.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203620.58,3648.7893,N,-12158.7621,W,1,03,00.5,029.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=171.34 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : Estimated North Bias at time = 683.99 : 67.43 : Estimated East Bias at time = 683.99 : -12.32 : Estimated Depth Bias at time = 683.99 : 3.17 : Estimated northing and easting = 4074697.93 : 591024.16 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 66.39 dEasting = -10.21 : AshtechGps::processRecord() - $GPGGA,203622.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203621.58,3648.7897,N,-12158.7629,W,1,03,00.5,031.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=171.17 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : TerrainNav update at nav time = 686.992938 : TerrainNav update at dvl time = 686.992938 : _navData-> (x,y) = (4074632.47, 591033.17) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203623.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203622.58,3648.7902,N,-12158.7635,W,1,03,00.5,030.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203624.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=170.97 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : Estimated North Bias at time = 686.99 : 66.93 : Estimated East Bias at time = 686.99 : -12.79 : Estimated Depth Bias at time = 686.99 : 3.17 : Estimated northing and easting = 4074699.41 : 591020.38 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 65.74 dEasting = -11.57 : NMEA Update: $GPGGA,203623.58,3648.7906,N,-12158.7641,W,1,03,00.5,031.0,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203625.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203624.58,3648.7911,N,-12158.7646,W,1,03,00.5,031.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=170.73 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : TerrainNav update at nav time = 690.002732 : TerrainNav update at dvl time = 690.002732 : _navData-> (x,y) = (4074635.13, 591030.79) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203626.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203625.58,3648.7916,N,-12158.7650,W,1,03,00.5,030.7,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=170.49 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203627.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 690.00 : 66.99 : Estimated East Bias at time = 690.00 : -13.17 : Estimated Depth Bias at time = 690.00 : 3.19 : Estimated northing and easting = 4074702.12 : 591017.63 : NMEA Update: $GPGGA,203626.58,3648.7921,N,-12158.7654,W,1,03,00.5,029.7,M,-99.9,M,,*48 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 65.57 dEasting = -12.24 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203628.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203627.58,3648.7926,N,-12158.7657,W,1,03,00.5,030.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=170.25 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : TerrainNav update at nav time = 693.002526 : TerrainNav update at dvl time = 693.002526 : _navData-> (x,y) = (4074637.79, 591029.16) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203629.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203628.58,3648.7931,N,-12158.7660,W,1,03,00.5,030.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=169.99 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203630.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 693.00 : 67.55 : Estimated East Bias at time = 693.00 : -13.85 : Estimated Depth Bias at time = 693.00 : 3.16 : Estimated northing and easting = 4074705.34 : 591015.31 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 66.24 dEasting = -13.36 : NMEA Update: $GPGGA,203629.58,3648.7936,N,-12158.7662,W,1,03,00.5,030.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203631.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=169.70 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203630.58,3648.7941,N,-12158.7663,W,1,03,00.5,030.0,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 696.002321 : TerrainNav update at dvl time = 696.002321 : _navData-> (x,y) = (4074640.70, 591028.45) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203632.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 696.00 : 67.58 : Estimated East Bias at time = 696.00 : -14.59 : Estimated Depth Bias at time = 696.00 : 3.16 : Estimated northing and easting = 4074708.27 : 591013.86 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 67.16 dEasting = -14.61 : NMEA Update: $GPGGA,203631.58,3648.7947,N,-12158.7663,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=2 vert=169.37 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203633.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203632.58,3648.7952,N,-12158.7663,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=2 vert=169.03 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203634.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203633.58,3648.7958,N,-12158.7661,W,1,03,00.5,028.6,M,-99.9,M,,*44 : TerrainNav update at nav time = 699.002115 : TerrainNav update at dvl time = 699.002115 : _navData-> (x,y) = (4074643.75, 591029.07) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203635.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203634.58,3648.7963,N,-12158.7658,W,1,03,00.5,027.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=168.69 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203636.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 699.00 : 67.93 : Estimated East Bias at time = 699.00 : -15.59 : Estimated Depth Bias at time = 699.00 : 3.14 : Estimated northing and easting = 4074711.68 : 591013.48 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 66.53 dEasting = -16.33 : NMEA Update: $GPGGA,203635.58,3648.7968,N,-12158.7654,W,1,03,00.5,027.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=168.33 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203637.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203636.58,3648.7973,N,-12158.7650,W,1,03,00.5,027.2,M,-99.9,M,,*41 : TerrainNav update at nav time = 702.001909 : TerrainNav update at dvl time = 702.001909 : _navData-> (x,y) = (4074646.55, 591030.94) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203638.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=168.01 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203637.58,3648.7978,N,-12158.7644,W,1,03,00.5,026.1,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203639.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 702.00 : 69.09 : Estimated East Bias at time = 702.00 : -16.39 : Estimated Depth Bias at time = 702.00 : 3.14 : Estimated northing and easting = 4074715.64 : 591014.55 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 68.25 dEasting = -17.27 : NMEA Update: $GPGGA,203638.58,3648.7980,N,-12158.7640,W,1,03,00.5,024.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=167.81 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203640.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203639.58,3648.7983,N,-12158.7636,W,1,03,00.5,025.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=167.66 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : TerrainNav update at nav time = 705.001704 : TerrainNav update at dvl time = 705.001704 : _navData-> (x,y) = (4074647.89, 591032.63) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203641.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203640.58,3648.7983,N,-12158.7635,W,1,03,00.5,015.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203642.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 705.00 : 77.05 : Estimated East Bias at time = 705.00 : -6.86 : Estimated Depth Bias at time = 705.00 : 2.66 : Estimated northing and easting = 4074724.94 : 591025.78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 76.82 dEasting = -7.86 : NMEA Update: $GPGGA,203641.58,3648.7984,N,-12158.7628,W,1,03,00.5,021.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=167.56 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203643.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203642.58,3648.7985,N,-12158.7621,W,1,03,00.5,020.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=167.44 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : TerrainNav update at nav time = 708.001498 : TerrainNav update at dvl time = 708.001498 : _navData-> (x,y) = (4074648.32, 591035.36) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203644.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203643.58,3648.7985,N,-12158.7614,W,1,03,00.5,020.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203645.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=167.35 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : Estimated North Bias at time = 708.00 : 77.68 : Estimated East Bias at time = 708.00 : -7.61 : Estimated Depth Bias at time = 708.00 : 2.73 : Estimated northing and easting = 4074726.01 : 591027.75 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 77.68 dEasting = -9.16 : NMEA Update: $GPGGA,203644.58,3648.7985,N,-12158.7606,W,1,03,00.5,022.0,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203646.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203645.58,3648.7985,N,-12158.7598,W,1,03,00.5,021.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=167.29 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : TerrainNav update at nav time = 711.001293 : TerrainNav update at dvl time = 711.001293 : _navData-> (x,y) = (4074648.19, 591038.74) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203647.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203646.58,3648.7984,N,-12158.7591,W,1,03,00.5,021.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=167.25 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203648.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 711.00 : 77.69 : Estimated East Bias at time = 711.00 : -8.92 : Estimated Depth Bias at time = 711.00 : 2.78 : Estimated northing and easting = 4074725.88 : 591029.82 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 77.88 dEasting = -10.61 : NMEA Update: $GPGGA,203647.58,3648.7983,N,-12158.7582,W,1,03,00.5,021.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,203649.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203648.58,3648.7982,N,-12158.7574,W,1,03,00.5,021.0,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=167.20 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : TerrainNav update at nav time = 714.001087 : TerrainNav update at dvl time = 714.001087 : _navData-> (x,y) = (4074647.75, 591042.43) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203650.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203649.58,3648.7981,N,-12158.7566,W,1,03,00.5,020.8,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=167.17 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203651.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 714.00 : 76.56 : Estimated East Bias at time = 714.00 : -9.82 : Estimated Depth Bias at time = 714.00 : 2.88 : Estimated northing and easting = 4074724.31 : 591032.62 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 76.80 dEasting = -11.63 : NMEA Update: $GPGGA,203650.58,3648.7980,N,-12158.7557,W,1,03,00.5,020.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203652.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=167.13 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203651.58,3648.7979,N,-12158.7548,W,1,03,00.5,020.4,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 717.000882 : TerrainNav update at dvl time = 717.000882 : _navData-> (x,y) = (4074647.24, 591046.42) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203653.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203652.58,3648.7978,N,-12158.7539,W,1,03,00.5,020.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=167.08 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203654.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 717.00 : 74.54 : Estimated East Bias at time = 717.00 : -10.37 : Estimated Depth Bias at time = 717.00 : 3.04 : Estimated northing and easting = 4074721.78 : 591036.04 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 74.75 dEasting = -12.32 : NMEA Update: $GPGGA,203653.58,3648.7978,N,-12158.7529,W,1,03,00.5,020.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=167.02 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203655.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203654.58,3648.7977,N,-12158.7520,W,1,03,00.5,020.1,M,-99.9,M,,*41 : TerrainNav update at nav time = 720.000677 : TerrainNav update at dvl time = 720.000677 : _navData-> (x,y) = (4074646.87, 591050.65) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203656.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203655.58,3648.7976,N,-12158.7510,W,1,03,00.5,020.2,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=166.94 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203657.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 720.00 : 73.25 : Estimated East Bias at time = 720.00 : -10.75 : Estimated Depth Bias at time = 720.00 : 3.11 : Estimated northing and easting = 4074720.12 : 591039.90 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 73.26 dEasting = -12.79 : NMEA Update: $GPGGA,203656.58,3648.7976,N,-12158.7500,W,1,03,00.5,019.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=166.83 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203658.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203657.58,3648.7977,N,-12158.7490,W,1,03,00.5,019.6,M,-99.9,M,,*45 : TerrainNav update at nav time = 723.000471 : TerrainNav update at dvl time = 723.000471 : _navData-> (x,y) = (4074647.03, 591055.02) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203659.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=166.68 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203658.58,3648.7978,N,-12158.7480,W,1,03,00.5,019.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203700.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 723.00 : 72.04 : Estimated East Bias at time = 723.00 : -10.95 : Estimated Depth Bias at time = 723.00 : 3.12 : Estimated northing and easting = 4074719.08 : 591044.07 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 71.69 dEasting = -13.00 : NMEA Update: $GPGGA,203659.58,3648.7979,N,-12158.7471,W,1,03,00.5,018.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=166.49 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203701.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203700.58,3648.7981,N,-12158.7461,W,1,03,00.5,018.3,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=166.26 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : TerrainNav update at nav time = 726.000266 : TerrainNav update at dvl time = 726.000266 : _navData-> (x,y) = (4074648.01, 591059.37) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203702.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203701.58,3648.7983,N,-12158.7451,W,1,03,00.5,018.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203703.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 726.00 : 70.63 : Estimated East Bias at time = 726.00 : -10.87 : Estimated Depth Bias at time = 726.00 : 3.10 : Estimated northing and easting = 4074718.64 : 591048.50 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 69.90 dEasting = -12.83 : NMEA Update: $GPGGA,203702.58,3648.7986,N,-12158.7442,W,1,03,00.5,017.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=165.99 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203704.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203703.58,3648.7989,N,-12158.7433,W,1,03,00.5,017.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=165.68 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : TerrainNav update at nav time = 729.000060 : TerrainNav update at dvl time = 729.000060 : _navData-> (x,y) = (4074649.82, 591063.45) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203705.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203704.58,3648.7993,N,-12158.7424,W,1,03,00.5,016.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203706.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 729.00 : 71.28 : LayeredControl _resolvedCommand - vertMode=2 vert=165.34 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : Estimated East Bias at time = 729.00 : -10.49 : Estimated Depth Bias at time = 729.00 : 2.93 : Estimated northing and easting = 4074721.10 : 591052.96 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 70.15 dEasting = -12.22 : NMEA Update: $GPGGA,203705.58,3648.7998,N,-12158.7416,W,1,03,00.5,016.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203707.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203706.58,3648.8003,N,-12158.7408,W,1,03,00.5,015.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=164.97 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : TerrainNav update at nav time = 731.999855 : TerrainNav update at dvl time = 731.999855 : _navData-> (x,y) = (4074652.41, 591067.02) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203708.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203707.58,3648.8008,N,-12158.7400,W,1,03,00.5,015.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=164.58 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203709.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 732.00 : 72.77 : Estimated East Bias at time = 732.00 : -10.03 : Estimated Depth Bias at time = 732.00 : 2.71 : Estimated northing and easting = 4074725.19 : 591056.99 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 71.36 dEasting = -11.51 : NMEA Update: $GPGGA,203708.58,3648.8013,N,-12158.7393,W,1,03,00.5,015.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203710.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203709.58,3648.8019,N,-12158.7387,W,1,03,00.5,014.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=164.17 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 734.999649 : TerrainNav update at dvl time = 734.999649 : _navData-> (x,y) = (4074655.57, 591070.03) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203711.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203710.58,3648.8025,N,-12158.7380,W,1,03,00.5,014.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=163.74 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203712.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 735.00 : 73.19 : Estimated East Bias at time = 735.00 : -9.31 : Estimated Depth Bias at time = 735.00 : 2.62 : Estimated northing and easting = 4074728.77 : 591060.72 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 71.58 dEasting = -10.57 : NMEA Update: $GPGGA,203711.58,3648.8031,N,-12158.7374,W,1,03,00.5,013.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203713.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=163.30 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203712.58,3648.8038,N,-12158.7368,W,1,03,00.5,013.4,M,-99.9,M,,*40 : TerrainNav update at nav time = 737.999444 : TerrainNav update at dvl time = 737.999444 : _navData-> (x,y) = (4074659.13, 591072.66) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203714.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203713.58,3648.8044,N,-12158.7363,W,1,03,00.5,012.8,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=162.84 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203715.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 738.00 : 72.40 : Estimated East Bias at time = 738.00 : -8.33 : Estimated Depth Bias at time = 738.00 : 2.62 : Estimated northing and easting = 4074731.53 : 591064.33 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 70.65 dEasting = -9.46 : NMEA Update: $GPGGA,203714.58,3648.8051,N,-12158.7357,W,1,03,00.5,012.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=162.38 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203716.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203715.58,3648.8058,N,-12158.7352,W,1,03,00.5,012.3,M,-99.9,M,,*4e : TerrainNav update at nav time = 740.999238 : TerrainNav update at dvl time = 740.999238 : _navData-> (x,y) = (4074662.99, 591075.01) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203717.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203716.58,3648.8065,N,-12158.7347,W,1,03,00.5,011.9,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=161.90 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203718.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 741.00 : 71.57 : Estimated East Bias at time = 741.00 : -7.32 : Estimated Depth Bias at time = 741.00 : 2.62 : Estimated northing and easting = 4074734.57 : 591067.69 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 69.67 dEasting = -8.34 : NMEA Update: $GPGGA,203717.58,3648.8073,N,-12158.7342,W,1,03,00.5,011.6,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=161.41 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203719.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203718.58,3648.8080,N,-12158.7337,W,1,03,00.5,011.3,M,-99.9,M,,*46 : TerrainNav update at nav time = 743.999032 : TerrainNav update at dvl time = 743.999032 : _navData-> (x,y) = (4074667.14, 591077.12) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203720.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=160.91 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203719.58,3648.8088,N,-12158.7333,W,1,03,00.5,010.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203721.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 744.00 : 70.68 : Estimated East Bias at time = 744.00 : -6.40 : Estimated Depth Bias at time = 744.00 : 2.60 : Estimated northing and easting = 4074737.82 : 591070.73 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 68.67 dEasting = -7.24 : NMEA Update: $GPGGA,203720.58,3648.8095,N,-12158.7328,W,1,03,00.5,010.8,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=160.41 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203722.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203721.58,3648.8103,N,-12158.7325,W,1,03,00.5,010.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=159.90 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : TerrainNav update at nav time = 746.998827 : TerrainNav update at dvl time = 746.998827 : _navData-> (x,y) = (4074671.52, 591078.81) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203723.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203722.58,3648.8111,N,-12158.7321,W,1,03,00.5,010.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203724.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 747.00 : 69.54 : Estimated East Bias at time = 747.00 : -5.24 : Estimated Depth Bias at time = 747.00 : 2.58 : Estimated northing and easting = 4074741.06 : 591073.57 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 67.42 dEasting = -5.86 : NMEA Update: $GPGGA,203723.58,3648.8120,N,-12158.7318,W,1,03,00.5,010.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=159.39 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203725.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203724.58,3648.8128,N,-12158.7316,W,1,03,00.5,010.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=158.87 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : TerrainNav update at nav time = 749.998621 : TerrainNav update at dvl time = 749.998621 : _navData-> (x,y) = (4074676.08, 591079.98) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203726.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203725.58,3648.8136,N,-12158.7314,W,1,03,00.5,010.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203727.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=158.36 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : Estimated North Bias at time = 750.00 : 68.47 : Estimated East Bias at time = 750.00 : -4.12 : Estimated Depth Bias at time = 750.00 : 2.54 : Estimated northing and easting = 4074744.54 : 591075.87 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 66.31 dEasting = -4.48 : NMEA Update: $GPGGA,203726.58,3648.8144,N,-12158.7312,W,1,03,00.5,009.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203728.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203727.58,3648.8153,N,-12158.7310,W,1,03,00.5,010.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=157.86 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 752.998416 : TerrainNav update at dvl time = 752.998416 : _navData-> (x,y) = (4074680.69, 591080.63) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203729.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203728.58,3648.8161,N,-12158.7309,W,1,03,00.5,009.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=157.35 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203730.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 753.00 : 67.49 : Estimated East Bias at time = 753.00 : -2.97 : Estimated Depth Bias at time = 753.00 : 2.48 : Estimated northing and easting = 4074748.18 : 591077.66 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 65.30 dEasting = -3.11 : NMEA Update: $GPGGA,203729.58,3648.8170,N,-12158.7309,W,1,03,00.5,009.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203731.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203730.57,3648.8178,N,-12158.7308,W,1,03,00.5,010.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=156.85 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : TerrainNav update at nav time = 755.998210 : TerrainNav update at dvl time = 755.998210 : _navData-> (x,y) = (4074685.40, 591080.79) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203732.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203731.57,3648.8187,N,-12158.7308,W,1,03,00.5,010.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=156.35 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203733.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 756.00 : 66.57 : Estimated East Bias at time = 756.00 : -1.65 : Estimated Depth Bias at time = 756.00 : 2.42 : Estimated northing and easting = 4074751.97 : 591079.14 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 64.35 dEasting = -1.56 : NMEA Update: $GPGGA,203732.57,3648.8195,N,-12158.7309,W,1,03,00.5,010.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203734.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=155.85 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203733.57,3648.8204,N,-12158.7309,W,1,03,00.5,010.2,M,-99.9,M,,*43 : TerrainNav update at nav time = 758.998005 : TerrainNav update at dvl time = 758.998005 : _navData-> (x,y) = (4074690.17, 591080.48) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203735.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203734.57,3648.8213,N,-12158.7311,W,1,03,00.5,010.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=155.35 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203736.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 759.00 : 65.95 : Estimated East Bias at time = 759.00 : -0.28 : Estimated Depth Bias at time = 759.00 : 2.34 : Estimated northing and easting = 4074756.12 : 591080.20 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 63.73 dEasting = 0.01 : NMEA Update: $GPGGA,203735.57,3648.8221,N,-12158.7312,W,1,03,00.5,010.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=154.86 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203737.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203736.57,3648.8230,N,-12158.7313,W,1,03,00.5,010.7,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 761.997800 : TerrainNav update at dvl time = 761.997800 : _navData-> (x,y) = (4074694.94, 591079.75) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203738.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203737.57,3648.8238,N,-12158.7315,W,1,03,00.5,010.8,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=154.37 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203739.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 762.00 : 65.45 : Estimated East Bias at time = 762.00 : 1.34 : Estimated Depth Bias at time = 762.00 : 2.26 : Estimated northing and easting = 4074760.40 : 591081.10 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 63.21 dEasting = 1.81 : NMEA Update: $GPGGA,203738.57,3648.8247,N,-12158.7318,W,1,03,00.5,010.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=153.89 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203740.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203739.57,3648.8256,N,-12158.7320,W,1,03,00.5,011.1,M,-99.9,M,,*47 : TerrainNav update at nav time = 764.997594 : TerrainNav update at dvl time = 764.997594 : _navData-> (x,y) = (4074699.72, 591078.69) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203741.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=153.41 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203740.57,3648.8264,N,-12158.7322,W,1,03,00.5,011.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203742.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 765.00 : 65.04 : Estimated East Bias at time = 765.00 : 3.02 : Estimated Depth Bias at time = 765.00 : 2.23 : Estimated northing and easting = 4074764.76 : 591081.71 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 62.84 dEasting = 3.60 : NMEA Update: $GPGGA,203741.57,3648.8273,N,-12158.7325,W,1,03,00.5,011.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=152.94 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203743.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203742.57,3648.8281,N,-12158.7328,W,1,03,00.5,011.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=152.48 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : TerrainNav update at nav time = 767.997389 : TerrainNav update at dvl time = 767.997389 : _navData-> (x,y) = (4074704.42, 591077.38) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203744.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203743.57,3648.8290,N,-12158.7331,W,1,03,00.5,011.9,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203745.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 768.00 : 64.55 : Estimated East Bias at time = 768.00 : 4.75 : Estimated Depth Bias at time = 768.00 : 2.17 : Estimated northing and easting = 4074768.96 : 591082.13 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 62.36 dEasting = 5.41 : NMEA Update: $GPGGA,203744.57,3648.8298,N,-12158.7334,W,1,03,00.5,012.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=152.01 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203746.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203745.57,3648.8307,N,-12158.7337,W,1,03,00.5,012.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=151.54 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : TerrainNav update at nav time = 770.997183 : TerrainNav update at dvl time = 770.997183 : _navData-> (x,y) = (4074709.12, 591075.98) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203747.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203746.57,3648.8315,N,-12158.7340,W,1,03,00.5,012.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203748.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=151.07 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : Estimated North Bias at time = 771.00 : 64.53 : Estimated East Bias at time = 771.00 : 5.84 : Estimated Depth Bias at time = 771.00 : 2.18 : Estimated northing and easting = 4074773.65 : 591081.82 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 62.32 dEasting = 6.48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203747.57,3648.8324,N,-12158.7343,W,1,03,00.5,012.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203749.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203748.57,3648.8332,N,-12158.7346,W,1,03,00.5,012.7,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=150.60 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : TerrainNav update at nav time = 773.996978 : TerrainNav update at dvl time = 773.996978 : _navData-> (x,y) = (4074713.86, 591074.65) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203750.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203749.57,3648.8341,N,-12158.7349,W,1,03,00.5,013.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=150.12 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203751.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 774.00 : 64.52 : Estimated East Bias at time = 774.00 : 7.01 : Estimated Depth Bias at time = 774.00 : 2.16 : Estimated northing and easting = 4074778.38 : 591081.66 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 62.29 dEasting = 7.58 : NMEA Update: $GPGGA,203750.57,3648.8350,N,-12158.7351,W,1,03,00.5,013.1,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203752.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203751.57,3648.8358,N,-12158.7354,W,1,03,00.5,013.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=149.64 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : TerrainNav update at nav time = 776.996772 : TerrainNav update at dvl time = 776.996772 : _navData-> (x,y) = (4074718.63, 591073.48) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203753.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203752.57,3648.8367,N,-12158.7356,W,1,03,00.5,013.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=149.16 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203754.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 777.00 : 63.57 : Estimated East Bias at time = 777.00 : 8.33 : Estimated Depth Bias at time = 777.00 : 2.09 : Estimated northing and easting = 4074782.20 : 591081.81 : NMEA Update: $GPGGA,203753.57,3648.8375,N,-12158.7358,W,1,03,00.5,013.7,M,-99.9,M,,*40 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 61.02 dEasting = 8.87 : AshtechGps::processRecord() - $GPGGA,203755.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=148.67 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203754.57,3648.8384,N,-12158.7360,W,1,03,00.5,014.0,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 779.996567 : TerrainNav update at dvl time = 779.996567 : _navData-> (x,y) = (4074723.44, 591072.52) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203756.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203755.57,3648.8393,N,-12158.7362,W,1,03,00.5,014.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=148.18 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203757.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 780.00 : 63.01 : Estimated East Bias at time = 780.00 : 9.57 : Estimated Depth Bias at time = 780.00 : 2.03 : Estimated northing and easting = 4074786.45 : 591082.08 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 60.76 dEasting = 9.98 : NMEA Update: $GPGGA,203756.57,3648.8402,N,-12158.7364,W,1,03,00.5,014.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=147.69 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203758.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203757.57,3648.8410,N,-12158.7365,W,1,03,00.5,014.7,M,-99.9,M,,*49 : TerrainNav update at nav time = 782.996361 : TerrainNav update at dvl time = 782.996361 : _navData-> (x,y) = (4074728.26, 591071.75) : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203759.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203758.57,3648.8419,N,-12158.7367,W,1,03,00.5,014.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=147.19 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203800.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203759.57,3648.8428,N,-12158.7368,W,1,03,00.5,015.1,M,-99.9,M,,*46 : Estimated North Bias at time = 783.00 : 62.79 : Estimated East Bias at time = 783.00 : 10.63 : Estimated Depth Bias at time = 783.00 : 1.95 : Estimated northing and easting = 4074791.05 : 591082.38 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 59.87 dEasting = 11.05 : LayeredControl _resolvedCommand - vertMode=2 vert=146.69 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203801.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203800.57,3648.8437,N,-12158.7369,W,1,03,00.5,015.3,M,-99.9,M,,*48 : TerrainNav update at nav time = 785.996156 : TerrainNav update at dvl time = 785.996156 : _navData-> (x,y) = (4074733.12, 591071.11) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203802.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=146.18 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203801.57,3648.8445,N,-12158.7370,W,1,03,00.5,015.3,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203803.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 786.00 : 62.52 : Estimated East Bias at time = 786.00 : 11.69 : Estimated Depth Bias at time = 786.00 : 1.85 : Estimated northing and easting = 4074795.64 : 591082.79 : NMEA Update: $GPGGA,203802.57,3648.8454,N,-12158.7371,W,1,03,00.5,015.7,M,-99.9,M,,*42 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 59.90 dEasting = 11.94 : LayeredControl _resolvedCommand - vertMode=2 vert=145.67 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203804.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203803.57,3648.8463,N,-12158.7372,W,1,03,00.5,015.7,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=145.16 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : TerrainNav update at nav time = 788.995950 : TerrainNav update at dvl time = 788.995950 : _navData-> (x,y) = (4074738.02, 591070.65) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203805.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203804.57,3648.8472,N,-12158.7373,W,1,03,00.5,016.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203806.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 789.00 : 61.75 : Estimated East Bias at time = 789.00 : 12.46 : Estimated Depth Bias at time = 789.00 : 1.75 : Estimated northing and easting = 4074799.77 : 591083.12 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 59.46 dEasting = 12.67 : NMEA Update: $GPGGA,203805.57,3648.8481,N,-12158.7374,W,1,03,00.5,016.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=144.65 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203807.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203806.57,3648.8490,N,-12158.7375,W,1,03,00.5,016.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=144.14 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : TerrainNav update at nav time = 791.995744 : TerrainNav update at dvl time = 791.995744 : _navData-> (x,y) = (4074742.93, 591070.24) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203808.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203807.57,3648.8498,N,-12158.7375,W,1,03,00.5,016.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203809.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=143.63 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : Estimated North Bias at time = 792.00 : 61.36 : Estimated East Bias at time = 792.00 : 13.41 : Estimated Depth Bias at time = 792.00 : 1.61 : Estimated northing and easting = 4074804.30 : 591083.65 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 59.09 dEasting = 13.56 : NMEA Update: $GPGGA,203808.57,3648.8507,N,-12158.7376,W,1,03,00.5,016.8,M,-99.9,M,,*44 : Parosci: Error - read of temp string returned 0 : ParosciServer::depth() - error : ParosciServer::depth() - error : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203810.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203809.57,3648.8516,N,-12158.7376,W,1,03,00.5,017.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=143.12 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : TerrainNav update at nav time = 794.995539 : TerrainNav update at dvl time = 794.995539 : _navData-> (x,y) = (4074747.78, 591069.98) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203811.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203810.57,3648.8525,N,-12158.7377,W,1,03,00.5,017.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=142.61 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203812.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203811.57,3648.8533,N,-12158.7377,W,1,03,00.5,017.9,M,-99.9,M,,*4a : Estimated North Bias at time = 795.00 : 61.03 : Estimated East Bias at time = 795.00 : 14.09 : Estimated Depth Bias at time = 795.00 : 1.52 : Estimated northing and easting = 4074808.81 : 591084.06 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 58.49 dEasting = 14.14 : AshtechGps::processRecord() - $GPGGA,203813.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203812.57,3648.8542,N,-12158.7377,W,1,03,00.5,018.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=142.11 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : TerrainNav update at nav time = 797.995333 : TerrainNav update at dvl time = 797.995333 : _navData-> (x,y) = (4074752.54, 591069.91) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203814.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203813.57,3648.8550,N,-12158.7377,W,1,03,00.5,019.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=141.60 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203815.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203814.57,3648.8559,N,-12158.7376,W,1,03,00.5,019.2,M,-99.9,M,,*47 : Estimated North Bias at time = 798.00 : 60.61 : Estimated East Bias at time = 798.00 : 14.53 : Estimated Depth Bias at time = 798.00 : 1.41 : Estimated northing and easting = 4074813.15 : 591084.44 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 58.05 dEasting = 14.51 : AshtechGps::processRecord() - $GPGGA,203816.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Parosci: Error - read of pressure string returned 0 : LayeredControl _resolvedCommand - vertMode=2 vert=141.09 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : ParosciServer::depth() - error : NMEA Update: $GPGGA,203815.57,3648.8568,N,-12158.7376,W,1,03,00.5,019.3,M,-99.9,M,,*45 : ParosciServer::depth() - error : ParosciServer::depth() - error : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : ParosciServer::depth() - error : ParosciServer::depth() - error : TerrainNav update at nav time = 800.995128 : TerrainNav update at dvl time = 800.995128 : _navData-> (x,y) = (4074757.34, 591069.98) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203817.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : ParosciServer::depth() - error : ParosciServer::depth() - error : NMEA Update: $GPGGA,203816.57,3648.8576,N,-12158.7376,W,1,03,00.5,019.8,M,-99.9,M,,*42 : ParosciServer::depth() - error : LayeredControl _resolvedCommand - vertMode=2 vert=140.58 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : ParosciServer::depth() - error : ParosciServer::depth() - error : AshtechGps::processRecord() - $GPGGA,203818.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : ParosciServer::depth() - error : ParosciServer::depth() - error : NMEA Update: $GPGGA,203817.57,3648.8585,N,-12158.7375,W,1,03,00.5,020.0,M,-99.9,M,,*4e : Estimated North Bias at time = 801.00 : 60.16 : Estimated East Bias at time = 801.00 : 14.95 : Estimated Depth Bias at time = 801.00 : 1.26 : Estimated northing and easting = 4074817.50 : 591084.92 : ParosciServer::depth() - error : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 57.61 dEasting = 14.86 : ParosciServer::depth() - error : ParosciServer::depth() - error : LayeredControl _resolvedCommand - vertMode=2 vert=140.07 horzlMode=4 horz=0.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203819.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : ParosciServer::depth() - error : ParosciServer::depth() - error : NMEA Update: $GPGGA,203818.57,3648.8593,N,-12158.7375,W,1,03,00.5,020.7,M,-99.9,M,,*41 : ParosciServer::depth() - error : ParosciServer::depth() - error : ParosciServer::depth() - error : ParosciServer::depth() - error : TerrainNav update at nav time = 803.994923 : TerrainNav update at dvl time = 803.994923 : _navData-> (x,y) = (4074762.07, 591070.17) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203820.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : ParosciServer::depth() - error : ParosciServer::depth() - error : Navigation - 21 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : Navigation - aborting mission : NMEA Update: $GPGGA,203819.57,3648.8602,N,-12158.7374,W,1,03,00.5,021.0,M,-99.9,M,,*4c : LayeredControl::callback() - got abort request from server : Initiating Mission Abort! : LayeredControl::execute() -- (t = 845.392087) Behavior ascend:-1 has changed to state Active : LayeredControl::execute() -- (t = 845.392087) Behavior missionTimer:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : ParosciServer::depth() - error : Navigation - 22 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : ParosciServer::depth() - error : Navigation - 23 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : ParosciServer::depth() - error : Navigation - 24 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : AshtechGps::processRecord() - $GPGGA,203821.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : ParosciServer::depth() - error : Navigation - 25 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : ParosciServer::depth() - error : Navigation - 26 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : NMEA Update: $GPGGA,203820.57,3648.8610,N,-12158.7373,W,1,03,00.5,021.2,M,-99.9,M,,*40 : Estimated North Bias at time = 803.99 : 59.77 : Estimated East Bias at time = 803.99 : 15.28 : Estimated Depth Bias at time = 803.99 : 1.15 : Estimated northing and easting = 4074821.84 : 591085.45 : ParosciServer::depth() - error : Navigation - 27 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 57.29 dEasting = 15.12 : ParosciServer::depth() - error : Navigation - 28 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : ParosciServer::depth() - error : Navigation - 29 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : AshtechGps::processRecord() - $GPGGA,203822.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : ParosciServer::depth() - error : Navigation - 30 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : ParosciServer::depth() - error : Navigation - 31 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : Parosci: Error - read of temp string returned 0 : NMEA Update: $GPGGA,203821.57,3648.8618,N,-12158.7372,W,1,03,00.5,022.1,M,-99.9,M,,*48 : ParosciServer::depth() - error : Navigation - 32 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : ParosciServer::depth() - error : Navigation - 33 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : ParosciServer::depth() - error : Navigation - 34 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : ParosciServer::depth() - error : TerrainNav update at nav time = 806.994717 : TerrainNav update at dvl time = 806.994717 : _navData-> (x,y) = (4074766.71, 591070.51) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203823.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : ParosciServer::depth() - error : Navigation - 35 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : ParosciServer::depth() - error : Navigation - 36 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : NMEA Update: $GPGGA,203822.57,3648.8627,N,-12158.7371,W,1,03,00.5,022.5,M,-99.9,M,,*40 : ParosciServer::depth() - error : Navigation - 37 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : ParosciServer::depth() - error : Navigation - 38 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : ParosciServer::depth() - error : Navigation - 39 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : AshtechGps::processRecord() - $GPGGA,203824.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : ParosciServer::depth() - error : Navigation - 40 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : ParosciServer::depth() - error : Navigation - 41 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : NMEA Update: $GPGGA,203823.57,3648.8635,N,-12158.7370,W,1,03,00.5,022.8,M,-99.9,M,,*4e : Estimated North Bias at time = 806.99 : 59.74 : Estimated East Bias at time = 806.99 : 15.52 : Estimated Depth Bias at time = 806.99 : 1.03 : Estimated northing and easting = 4074826.45 : 591086.03 : ParosciServer::depth() - error : Navigation - 42 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 57.28 dEasting = 15.30 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : ParosciServer::depth() - error : Navigation - 43 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : ParosciServer::depth() - error : Navigation - 44 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203825.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : ParosciServer::depth() - error : Navigation - 45 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : ParosciServer::depth() - error : Navigation - 46 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : NMEA Update: $GPGGA,203824.57,3648.8643,N,-12158.7369,W,1,03,00.5,023.7,M,-99.9,M,,*4e : ParosciServer::depth() - error : Navigation - 47 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : ParosciServer::depth() - error : Navigation - 48 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : ParosciServer::depth() - error : Navigation - 49 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : ParosciServer::depth() - error : TerrainNav update at nav time = 809.994512 : TerrainNav update at dvl time = 809.994512 : _navData-> (x,y) = (4074771.34, 591070.88) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203826.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : ParosciServer::depth() - error : Navigation - 50 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : ParosciServer::depth() - error : Navigation - 51 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : NMEA Update: $GPGGA,203825.57,3648.8650,N,-12158.7369,W,1,03,00.5,015.2,M,-99.9,M,,*4d : ParosciServer::depth() - error : Navigation - 52 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : ParosciServer::depth() - error : Navigation - 53 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : ParosciServer::depth() - error : Navigation - 54 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : AshtechGps::processRecord() - $GPGGA,203827.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : ParosciServer::depth() - error : Navigation - 55 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : ParosciServer::depth() - error : Navigation - 56 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : NMEA Update: $GPGGA,203826.58,3648.8655,N,-12158.7369,W,1,03,00.5,024.1,M,-99.9,M,,*45 : Estimated North Bias at time = 809.99 : 59.19 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated East Bias at time = 809.99 : 15.86 : Estimated Depth Bias at time = 809.99 : 0.92 : Estimated northing and easting = 4074830.53 : 591086.74 : ParosciServer::depth() - error : Navigation - 57 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 57.74 dEasting = 15.84 : ParosciServer::depth() - error : Navigation - 58 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : ParosciServer::depth() - error : Navigation - 59 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : AshtechGps::processRecord() - $GPGGA,203828.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : ParosciServer::depth() - error : Navigation - 60 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : ParosciServer::depth() - error : Navigation - 61 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : NMEA Update: $GPGGA,203827.58,3648.8663,N,-12158.7369,W,1,03,00.5,024.2,M,-99.9,M,,*42 : Parosci: Error - read of temp string returned 0 : ParosciServer::depth() - error : Navigation - 62 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : ParosciServer::depth() - error : Navigation - 63 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : DepthSensor (Navigation): Received bad depth reading: 136.558031 Substitute previous depth value of 147.072650 : TerrainNav update at nav time = 812.994306 : TerrainNav update at dvl time = 812.994306 : _navData-> (x,y) = (4074774.93, 591070.74) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203829.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthSensor (Navigation): Received bad depth reading: 136.394554 Substitute previous depth value of 147.072650 : DepthSensor (Navigation): Received bad depth reading: 136.234975 Substitute previous depth value of 147.072650 : NMEA Update: $GPGGA,203828.58,3648.8671,N,-12158.7370,W,1,03,00.5,025.3,M,-99.9,M,,*46 : DepthSensor (Navigation): Received bad depth reading: 136.102638 Substitute previous depth value of 147.072650 : DepthSensor (Navigation): Received bad depth reading: 135.950844 Substitute previous depth value of 147.072650 : DepthSensor (Navigation): Received bad depth reading: 135.950844 Substitute previous depth value of 147.072650 : AshtechGps::processRecord() - $GPGGA,203830.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthSensor (Navigation): Received bad depth reading: 135.950844 Substitute previous depth value of 147.072650 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : DepthSensor (Navigation): Received bad depth reading: 135.950844 Substitute previous depth value of 147.072650 : NMEA Update: $GPGGA,203829.58,3648.8679,N,-12158.7372,W,1,03,00.5,026.7,M,-99.9,M,,*4a : Estimated North Bias at time = 812.99 : 59.39 : Estimated East Bias at time = 812.99 : 16.63 : Estimated Depth Bias at time = 812.99 : 0.80 : Estimated northing and easting = 4074834.32 : 591087.36 : DepthSensor (Navigation): Received bad depth reading: 135.950844 Substitute previous depth value of 147.072650 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 57.01 dEasting = 17.02 : DepthSensor (Navigation): Received bad depth reading: 135.950844 Substitute previous depth value of 147.072650 : DepthSensor (Navigation): Received bad depth reading: 135.950844 Substitute previous depth value of 147.072650 : AshtechGps::processRecord() - $GPGGA,203831.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthSensor (Navigation): Received bad depth reading: 135.950844 Substitute previous depth value of 147.072650 : DepthSensor (Navigation): Received bad depth reading: 135.950844 Substitute previous depth value of 147.072650 : NMEA Update: $GPGGA,203830.58,3648.8687,N,-12158.7374,W,1,03,00.5,027.9,M,-99.9,M,,*4a : DepthSensor (Navigation): Received bad depth reading: 135.950844 Substitute previous depth value of 147.072650 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : DepthSensor (Navigation): Received bad depth reading: 135.950844 Substitute previous depth value of 147.072650 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : DepthSensor (Navigation): Received bad depth reading: 135.950844 Substitute previous depth value of 147.072650 : TerrainNav update at nav time = 815.994101 : TerrainNav update at dvl time = 815.994101 : _navData-> (x,y) = (4074779.32, 591069.83) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203832.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthSensor (Navigation): Received bad depth reading: 135.950844 Substitute previous depth value of 147.072650 : DepthSensor (Navigation): Received bad depth reading: 135.950844 Substitute previous depth value of 147.072650 : NMEA Update: $GPGGA,203831.58,3648.8695,N,-12158.7377,W,1,03,00.5,028.5,M,-99.9,M,,*48 : DepthSensor (Navigation): Received bad depth reading: 135.950844 Substitute previous depth value of 147.072650 : DepthSensor (Navigation): Received bad depth reading: 135.950844 Substitute previous depth value of 147.072650 : DepthSensor(Navigation): _maxConsecutiveBad exceeded, accept reading: "135.950844" : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203833.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203832.58,3648.8702,N,-12158.7380,W,1,03,00.5,029.3,M,-99.9,M,,*4b : Estimated North Bias at time = 815.99 : 59.34 : Estimated East Bias at time = 815.99 : 17.95 : Estimated Depth Bias at time = 815.99 : 0.70 : Estimated northing and easting = 4074838.66 : 591087.78 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 56.90 dEasting = 18.89 : AshtechGps::processRecord() - $GPGGA,203834.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203833.58,3648.8709,N,-12158.7384,W,1,03,00.5,031.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 818.993895 : TerrainNav update at dvl time = 818.993895 : _navData-> (x,y) = (4074783.28, 591068.09) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203835.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203834.58,3648.8716,N,-12158.7389,W,1,03,00.5,031.2,M,-99.9,M,,*49 : Parosci: Error - read of temp string returned 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : ParosciServer::depth() - error : AshtechGps::processRecord() - $GPGGA,203836.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203835.58,3648.8722,N,-12158.7394,W,1,03,00.5,032.1,M,-99.9,M,,*43 : Estimated North Bias at time = 818.99 : 59.59 : Estimated East Bias at time = 818.99 : 19.49 : Estimated Depth Bias at time = 818.99 : 0.65 : Estimated northing and easting = 4074842.87 : 591087.58 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 57.55 dEasting = 20.98 : AshtechGps::processRecord() - $GPGGA,203837.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203836.58,3648.8728,N,-12158.7400,W,1,03,00.5,033.7,M,-99.9,M,,*47 : TerrainNav update at nav time = 821.993690 : TerrainNav update at dvl time = 821.993690 : _navData-> (x,y) = (4074786.51, 591065.44) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203838.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203837.58,3648.8733,N,-12158.7407,W,1,03,00.5,034.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203839.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203838.58,3648.8737,N,-12158.7414,W,1,03,00.5,034.8,M,-99.9,M,,*4a : Estimated North Bias at time = 821.99 : 60.63 : Estimated East Bias at time = 821.99 : 21.23 : Estimated Depth Bias at time = 821.99 : 0.60 : Estimated northing and easting = 4074847.14 : 591086.67 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 59.08 dEasting = 23.43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203840.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203839.58,3648.8741,N,-12158.7422,W,1,03,00.5,036.0,M,-99.9,M,,*45 : TerrainNav update at nav time = 824.993484 : TerrainNav update at dvl time = 824.993484 : _navData-> (x,y) = (4074788.63, 591062.07) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203841.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203840.58,3648.8744,N,-12158.7430,W,1,03,00.5,037.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203842.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203841.58,3648.8746,N,-12158.7438,W,1,03,00.5,038.7,M,-99.9,M,,*4f : Estimated North Bias at time = 824.99 : 62.45 : Estimated East Bias at time = 824.99 : 22.80 : Estimated Depth Bias at time = 824.99 : 0.54 : Estimated northing and easting = 4074851.08 : 591084.87 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 61.80 dEasting = 25.01 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203843.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203842.58,3648.8746,N,-12158.7447,W,1,03,00.5,036.9,M,-99.9,M,,*44 : TerrainNav update at nav time = 827.993279 : TerrainNav update at dvl time = 827.993279 : _navData-> (x,y) = (4074789.32, 591058.36) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203844.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203843.58,3648.8746,N,-12158.7455,W,1,03,00.5,037.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203845.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 827.99 : 64.93 : Estimated East Bias at time = 827.99 : 23.91 : Estimated Depth Bias at time = 827.99 : 0.49 : Estimated northing and easting = 4074854.25 : 591082.27 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 65.18 dEasting = 25.59 : NMEA Update: $GPGGA,203844.58,3648.8745,N,-12158.7463,W,1,03,00.5,038.9,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203846.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203845.58,3648.8743,N,-12158.7471,W,1,03,00.5,039.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 830.993073 : TerrainNav update at dvl time = 830.993073 : _navData-> (x,y) = (4074788.46, 591054.89) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203847.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203846.58,3648.8741,N,-12158.7478,W,1,03,00.5,039.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203848.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 830.99 : 68.22 : Estimated East Bias at time = 830.99 : 23.82 : Estimated Depth Bias at time = 830.99 : 0.43 : Estimated northing and easting = 4074856.67 : 591078.71 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 69.07 dEasting = 25.23 : NMEA Update: $GPGGA,203847.58,3648.8737,N,-12158.7485,W,1,03,00.5,040.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203849.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203848.58,3648.8734,N,-12158.7491,W,1,03,00.5,040.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 833.992867 : TerrainNav update at dvl time = 833.992867 : _navData-> (x,y) = (4074786.41, 591052.05) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203850.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203849.58,3648.8729,N,-12158.7497,W,1,03,00.5,041.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203851.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 833.99 : 71.47 : Estimated East Bias at time = 833.99 : 22.60 : Estimated Depth Bias at time = 833.99 : 0.38 : Estimated northing and easting = 4074857.89 : 591074.65 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 72.77 dEasting = 23.63 : NMEA Update: $GPGGA,203850.58,3648.8724,N,-12158.7501,W,1,03,00.5,041.9,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203852.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203851.58,3648.8719,N,-12158.7505,W,1,03,00.5,042.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 837.002661 : TerrainNav update at dvl time = 837.002661 : _navData-> (x,y) = (4074783.52, 591050.18) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203853.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203852.58,3648.8713,N,-12158.7508,W,1,03,00.5,041.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203854.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 837.00 : 74.45 : Estimated East Bias at time = 837.00 : 20.16 : Estimated Depth Bias at time = 837.00 : 0.33 : Estimated northing and easting = 4074857.96 : 591070.33 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 75.95 dEasting = 20.70 : NMEA Update: $GPGGA,203853.58,3648.8707,N,-12158.7511,W,1,03,00.5,042.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203855.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203854.58,3648.8701,N,-12158.7513,W,1,03,00.5,042.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 840.002456 : TerrainNav update at dvl time = 840.002456 : _navData-> (x,y) = (4074780.24, 591049.32) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203856.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203855.58,3648.8695,N,-12158.7513,W,1,03,00.5,043.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203857.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 840.00 : 76.76 : Estimated East Bias at time = 840.00 : 17.09 : Estimated Depth Bias at time = 840.00 : 0.27 : Estimated northing and easting = 4074857.00 : 591066.42 : NMEA Update: $GPGGA,203856.58,3648.8689,N,-12158.7513,W,1,03,00.5,042.7,M,-99.9,M,,*4e : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 78.61 dEasting = 17.07 : AshtechGps::processRecord() - $GPGGA,203858.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203857.58,3648.8683,N,-12158.7512,W,1,03,00.5,043.3,M,-99.9,M,,*41 : TerrainNav update at nav time = 843.002250 : TerrainNav update at dvl time = 843.002250 : _navData-> (x,y) = (4074776.83, 591049.62) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203859.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203858.58,3648.8677,N,-12158.7511,W,1,03,00.5,043.6,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203900.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 843.00 : 78.13 : Estimated East Bias at time = 843.00 : 13.59 : Estimated Depth Bias at time = 843.00 : 0.24 : Estimated northing and easting = 4074854.97 : 591063.20 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 79.67 dEasting = 13.07 : NMEA Update: $GPGGA,203859.58,3648.8671,N,-12158.7508,W,1,03,00.5,044.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203901.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203900.58,3648.8665,N,-12158.7505,W,1,03,00.5,044.3,M,-99.9,M,,*4b : TerrainNav update at nav time = 846.002045 : TerrainNav update at dvl time = 846.002045 : _navData-> (x,y) = (4074773.63, 591050.94) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203902.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203901.58,3648.8660,N,-12158.7501,W,1,03,00.5,044.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203903.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 846.00 : 78.47 : Estimated East Bias at time = 846.00 : 9.72 : Estimated Depth Bias at time = 846.00 : 0.20 : Estimated northing and easting = 4074852.10 : 591060.67 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 79.76 dEasting = 8.79 : NMEA Update: $GPGGA,203902.58,3648.8655,N,-12158.7497,W,1,03,00.5,044.2,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203904.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203903.58,3648.8650,N,-12158.7491,W,1,03,00.5,043.8,M,-99.9,M,,*4e : TerrainNav update at nav time = 849.001839 : TerrainNav update at dvl time = 849.001839 : _navData-> (x,y) = (4074771.06, 591053.21) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203905.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203904.58,3648.8646,N,-12158.7485,W,1,03,00.5,043.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203906.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203905.58,3648.8643,N,-12158.7479,W,1,03,00.5,045.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 849.00 : 77.98 : Estimated East Bias at time = 849.00 : 6.33 : Estimated Depth Bias at time = 849.00 : 0.18 : Estimated northing and easting = 4074849.04 : 591059.54 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 79.13 dEasting = 4.61 : AshtechGps::processRecord() - $GPGGA,203907.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203906.58,3648.8640,N,-12158.7472,W,1,03,00.5,044.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 852.001634 : TerrainNav update at dvl time = 852.001634 : _navData-> (x,y) = (4074769.30, 591056.19) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203908.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203907.58,3648.8637,N,-12158.7465,W,1,03,00.5,044.6,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203909.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203908.58,3648.8635,N,-12158.7457,W,1,03,00.5,044.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 852.00 : 76.43 : Estimated East Bias at time = 852.00 : 3.56 : Estimated Depth Bias at time = 852.00 : 0.16 : Estimated northing and easting = 4074845.73 : 591059.75 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 77.07 dEasting = 1.54 : AshtechGps::processRecord() - $GPGGA,203910.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203909.58,3648.8634,N,-12158.7450,W,1,03,00.5,045.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 855.001428 : TerrainNav update at dvl time = 855.001428 : _navData-> (x,y) = (4074768.44, 591059.61) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203911.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203910.58,3648.8633,N,-12158.7442,W,1,03,00.5,044.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203912.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203911.58,3648.8633,N,-12158.7434,W,1,03,00.5,044.5,M,-99.9,M,,*4d : Estimated North Bias at time = 855.00 : 74.07 : Estimated East Bias at time = 855.00 : 1.13 : Estimated Depth Bias at time = 855.00 : 0.14 : Estimated northing and easting = 4074842.51 : 591060.74 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 74.10 dEasting = -1.02 : AshtechGps::processRecord() - $GPGGA,203913.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203912.58,3648.8634,N,-12158.7425,W,1,03,00.5,045.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 858.001223 : TerrainNav update at dvl time = 858.001223 : _navData-> (x,y) = (4074768.60, 591063.21) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203914.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203913.58,3648.8635,N,-12158.7417,W,1,03,00.5,044.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203915.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203914.58,3648.8636,N,-12158.7409,W,1,03,00.5,044.7,M,-99.9,M,,*41 : Estimated North Bias at time = 858.00 : 71.18 : Estimated East Bias at time = 858.00 : -0.39 : Estimated Depth Bias at time = 858.00 : 0.11 : Estimated northing and easting = 4074839.78 : 591062.82 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 70.68 dEasting = -2.27 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203916.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203915.58,3648.8638,N,-12158.7402,W,1,03,00.5,044.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 861.001017 : TerrainNav update at dvl time = 861.001017 : _navData-> (x,y) = (4074769.74, 591066.68) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203917.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203916.58,3648.8641,N,-12158.7394,W,1,03,00.5,045.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203918.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203917.58,3648.8645,N,-12158.7387,W,1,03,00.5,046.1,M,-99.9,M,,*43 : Estimated North Bias at time = 861.00 : 67.79 : Estimated East Bias at time = 861.00 : -1.21 : Estimated Depth Bias at time = 861.00 : 0.08 : Estimated northing and easting = 4074837.54 : 591065.47 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 66.80 dEasting = -2.89 : AshtechGps::processRecord() - $GPGGA,203919.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203918.58,3648.8649,N,-12158.7380,W,1,03,00.5,046.2,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 864.000812 : TerrainNav update at dvl time = 864.000812 : _navData-> (x,y) = (4074771.81, 591069.71) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203920.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203919.58,3648.8653,N,-12158.7374,W,1,03,00.5,046.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203921.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203920.58,3648.8658,N,-12158.7368,W,1,03,00.5,046.9,M,-99.9,M,,*42 : Estimated North Bias at time = 864.00 : 64.28 : Estimated East Bias at time = 864.00 : -1.27 : Estimated Depth Bias at time = 864.00 : 0.03 : Estimated northing and easting = 4074836.09 : 591068.44 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 62.87 dEasting = -2.64 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203922.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203921.58,3648.8663,N,-12158.7363,W,1,03,00.5,048.0,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 867.000606 : TerrainNav update at dvl time = 867.000606 : _navData-> (x,y) = (4074774.62, 591072.09) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203923.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203922.58,3648.8668,N,-12158.7359,W,1,03,00.5,049.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203924.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203923.58,3648.8674,N,-12158.7355,W,1,03,00.5,049.8,M,-99.9,M,,*4f : Estimated North Bias at time = 867.00 : 60.95 : Estimated East Bias at time = 867.00 : -0.47 : Estimated Depth Bias at time = 867.00 : -0.02 : Estimated northing and easting = 4074835.57 : 591071.62 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 59.20 dEasting = -1.40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203925.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203924.58,3648.8681,N,-12158.7351,W,1,03,00.5,050.5,M,-99.9,M,,*43 : TerrainNav update at nav time = 870.000401 : TerrainNav update at dvl time = 870.000401 : _navData-> (x,y) = (4074778.00, 591073.63) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203926.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203925.58,3648.8687,N,-12158.7349,W,1,03,00.5,051.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203927.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203926.58,3648.8693,N,-12158.7347,W,1,03,00.5,052.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 870.00 : 57.99 : Estimated East Bias at time = 870.00 : 1.10 : Estimated Depth Bias at time = 870.00 : -0.10 : Estimated northing and easting = 4074835.99 : 591074.73 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 55.81 dEasting = 0.60 : AshtechGps::processRecord() - $GPGGA,203928.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203927.58,3648.8700,N,-12158.7346,W,1,03,00.5,054.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 873.000195 : TerrainNav update at dvl time = 873.000195 : _navData-> (x,y) = (4074781.66, 591074.25) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203929.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203928.58,3648.8707,N,-12158.7345,W,1,03,00.5,055.0,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203930.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203929.58,3648.8713,N,-12158.7346,W,1,03,00.5,056.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 873.00 : 55.72 : Estimated East Bias at time = 873.00 : 3.45 : Estimated Depth Bias at time = 873.00 : -0.26 : Estimated northing and easting = 4074837.38 : 591077.70 : AshtechGps::processRecord() - $GPGGA,203931.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 53.04 dEasting = 3.69 : NMEA Update: $GPGGA,203930.58,3648.8720,N,-12158.7347,W,1,03,00.5,057.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 875.999990 : TerrainNav update at dvl time = 875.999990 : _navData-> (x,y) = (4074785.28, 591073.75) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203932.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203931.58,3648.8726,N,-12158.7350,W,1,03,00.5,058.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203933.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203932.58,3648.8732,N,-12158.7353,W,1,03,00.5,060.0,M,-99.9,M,,*49 : Estimated North Bias at time = 876.00 : 54.37 : Estimated East Bias at time = 876.00 : 6.53 : Estimated Depth Bias at time = 876.00 : -0.45 : Estimated northing and easting = 4074839.65 : 591080.28 : AshtechGps::processRecord() - $GPGGA,203934.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 51.97 dEasting = 7.62 : NMEA Update: $GPGGA,203933.58,3648.8738,N,-12158.7357,W,1,03,00.5,061.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 878.999784 : TerrainNav update at dvl time = 878.999784 : _navData-> (x,y) = (4074788.46, 591072.11) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203935.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203934.58,3648.8743,N,-12158.7361,W,1,03,00.5,063.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203936.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203935.58,3648.8748,N,-12158.7367,W,1,03,00.5,064.0,M,-99.9,M,,*40 : Estimated North Bias at time = 879.00 : 53.84 : Estimated East Bias at time = 879.00 : 10.30 : Estimated Depth Bias at time = 879.00 : -0.55 : Estimated northing and easting = 4074842.30 : 591082.42 : AshtechGps::processRecord() - $GPGGA,203937.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 52.02 dEasting = 12.11 : NMEA Update: $GPGGA,203936.58,3648.8752,N,-12158.7373,W,1,03,00.5,065.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 881.999579 : TerrainNav update at dvl time = 881.999579 : _navData-> (x,y) = (4074790.80, 591069.53) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203938.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203937.58,3648.8755,N,-12158.7379,W,1,03,00.5,067.1,M,-99.9,M,,*43 : Estimated North Bias at time = 882.00 : 54.67 : Estimated East Bias at time = 882.00 : 14.35 : Estimated Depth Bias at time = 882.00 : -0.59 : Estimated northing and easting = 4074845.47 : 591083.88 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 54.13 dEasting = 15.37 : AshtechGps::processRecord() - $GPGGA,203939.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203938.58,3648.8758,N,-12158.7386,W,1,03,00.5,065.9,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=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203939.58,3648.8759,N,-12158.7394,W,1,03,00.5,065.6,M,-99.9,M,,*47 : TerrainNav update at nav time = 884.999373 : TerrainNav update at dvl time = 884.999373 : _navData-> (x,y) = (4074791.92, 591066.29) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203941.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203940.58,3648.8760,N,-12158.7401,W,1,03,00.5,066.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 885.00 : 56.97 : Estimated East Bias at time = 885.00 : 18.05 : Estimated Depth Bias at time = 885.00 : -0.62 : Estimated northing and easting = 4074848.89 : 591084.34 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 56.90 dEasting = 19.19 : AshtechGps::processRecord() - $GPGGA,203942.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203941.58,3648.8761,N,-12158.7409,W,1,03,00.5,068.1,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203943.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203942.58,3648.8760,N,-12158.7417,W,1,03,00.5,068.6,M,-99.9,M,,*40 : TerrainNav update at nav time = 887.999168 : TerrainNav update at dvl time = 887.999168 : _navData-> (x,y) = (4074791.80, 591062.84) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203944.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203943.58,3648.8759,N,-12158.7424,W,1,03,00.5,068.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 888.00 : 60.50 : Estimated East Bias at time = 888.00 : 20.93 : Estimated Depth Bias at time = 888.00 : -0.66 : Estimated northing and easting = 4074852.30 : 591083.77 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 60.76 dEasting = 22.03 : AshtechGps::processRecord() - $GPGGA,203945.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203944.58,3648.8757,N,-12158.7432,W,1,03,00.5,069.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203946.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203945.58,3648.8755,N,-12158.7439,W,1,03,00.5,070.2,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 890.998962 : TerrainNav update at dvl time = 890.998962 : _navData-> (x,y) = (4074790.49, 591059.69) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203947.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203946.58,3648.8751,N,-12158.7445,W,1,03,00.5,069.5,M,-99.9,M,,*43 : Estimated North Bias at time = 891.00 : 65.04 : Estimated East Bias at time = 891.00 : 22.89 : Estimated Depth Bias at time = 891.00 : -0.68 : Estimated northing and easting = 4074855.52 : 591082.58 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 65.74 dEasting = 23.82 : AshtechGps::processRecord() - $GPGGA,203948.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203947.58,3648.8747,N,-12158.7451,W,1,03,00.5,069.8,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203949.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203948.58,3648.8743,N,-12158.7456,W,1,03,00.5,070.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 893.998757 : TerrainNav update at dvl time = 893.998757 : _navData-> (x,y) = (4074788.06, 591057.32) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203950.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203949.58,3648.8738,N,-12158.7461,W,1,03,00.5,070.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203951.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203950.58,3648.8732,N,-12158.7464,W,1,03,00.5,070.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 894.00 : 69.40 : Estimated East Bias at time = 894.00 : 23.59 : Estimated Depth Bias at time = 894.00 : -0.51 : Estimated northing and easting = 4074857.46 : 591080.91 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 71.18 dEasting = 24.55 : AshtechGps::processRecord() - $GPGGA,203952.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203951.58,3648.8727,N,-12158.7467,W,1,03,00.5,070.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 896.998551 : TerrainNav update at dvl time = 896.998551 : _navData-> (x,y) = (4074785.00, 591055.90) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203953.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203952.58,3648.8721,N,-12158.7469,W,1,03,00.5,070.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203954.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203953.58,3648.8715,N,-12158.7471,W,1,03,00.5,070.6,M,-99.9,M,,*4b : Estimated North Bias at time = 897.00 : 74.11 : Estimated East Bias at time = 897.00 : 21.90 : Estimated Depth Bias at time = 897.00 : -0.56 : Estimated northing and easting = 4074859.11 : 591077.80 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 75.86 dEasting = 22.22 : AshtechGps::processRecord() - $GPGGA,203955.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203954.58,3648.8709,N,-12158.7471,W,1,03,00.5,069.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 899.998346 : TerrainNav update at dvl time = 899.998346 : _navData-> (x,y) = (4074781.66, 591055.50) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203956.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203955.58,3648.8703,N,-12158.7471,W,1,03,00.5,070.5,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203957.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203956.57,3648.8696,N,-12158.7470,W,1,03,00.5,070.0,M,-99.9,M,,*4c : Estimated North Bias at time = 900.00 : 78.07 : Estimated East Bias at time = 900.00 : 18.78 : Estimated Depth Bias at time = 900.00 : -0.58 : Estimated northing and easting = 4074859.73 : 591074.28 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 79.92 dEasting = 18.52 : AshtechGps::processRecord() - $GPGGA,203958.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203957.57,3648.8690,N,-12158.7468,W,1,03,00.5,070.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 902.998140 : TerrainNav update at dvl time = 902.998140 : _navData-> (x,y) = (4074778.26, 591056.23) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203959.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203958.57,3648.8685,N,-12158.7466,W,1,03,00.5,070.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204000.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203959.57,3648.8679,N,-12158.7462,W,1,03,00.5,070.4,M,-99.9,M,,*45 : Estimated North Bias at time = 903.00 : 81.26 : Estimated East Bias at time = 903.00 : 14.51 : Estimated Depth Bias at time = 903.00 : -0.59 : Estimated northing and easting = 4074859.52 : 591070.74 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 82.88 dEasting = 13.67 : AshtechGps::processRecord() - $GPGGA,204001.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204000.57,3648.8674,N,-12158.7458,W,1,03,00.5,070.4,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 905.997935 : TerrainNav update at dvl time = 905.997935 : _navData-> (x,y) = (4074775.32, 591058.03) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204002.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204001.57,3648.8669,N,-12158.7453,W,1,03,00.5,070.4,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204003.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204002.57,3648.8665,N,-12158.7447,W,1,03,00.5,069.6,M,-99.9,M,,*45 : Estimated North Bias at time = 906.00 : 82.81 : Estimated East Bias at time = 906.00 : 9.55 : Estimated Depth Bias at time = 906.00 : -0.59 : Estimated northing and easting = 4074858.13 : 591067.58 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 84.03 dEasting = 8.23 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204004.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204003.57,3648.8661,N,-12158.7441,W,1,03,00.5,069.7,M,-99.9,M,,*47 : TerrainNav update at nav time = 908.997729 : TerrainNav update at dvl time = 908.997729 : _navData-> (x,y) = (4074773.21, 591060.71) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204005.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204004.57,3648.8658,N,-12158.7434,W,1,03,00.5,069.8,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204006.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204005.57,3648.8655,N,-12158.7427,W,1,03,00.5,070.0,M,-99.9,M,,*49 : Estimated North Bias at time = 909.00 : 82.78 : Estimated East Bias at time = 909.00 : 4.35 : Estimated Depth Bias at time = 909.00 : -0.55 : Estimated northing and easting = 4074855.99 : 591065.05 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 83.59 dEasting = 2.55 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204007.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204006.57,3648.8653,N,-12158.7419,W,1,03,00.5,070.2,M,-99.9,M,,*43 : TerrainNav update at nav time = 911.997524 : TerrainNav update at dvl time = 911.997524 : _navData-> (x,y) = (4074771.93, 591064.19) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204008.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204007.57,3648.8651,N,-12158.7411,W,1,03,00.5,069.4,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204009.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204008.57,3648.8651,N,-12158.7402,W,1,03,00.5,069.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 912.00 : 81.24 : Estimated East Bias at time = 912.00 : -0.73 : Estimated Depth Bias at time = 912.00 : -0.45 : Estimated northing and easting = 4074853.17 : 591063.45 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 81.54 dEasting = -3.23 : AshtechGps::processRecord() - $GPGGA,204010.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204009.57,3648.8650,N,-12158.7394,W,1,03,00.5,069.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 914.997318 : TerrainNav update at dvl time = 914.997318 : _navData-> (x,y) = (4074771.65, 591067.95) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204011.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204010.57,3648.8651,N,-12158.7385,W,1,03,00.5,069.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204012.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204011.57,3648.8651,N,-12158.7377,W,1,03,00.5,068.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 915.00 : 78.39 : Estimated East Bias at time = 915.00 : -5.19 : Estimated Depth Bias at time = 915.00 : -0.37 : Estimated northing and easting = 4074850.04 : 591062.76 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 78.01 dEasting = -7.69 : AshtechGps::processRecord() - $GPGGA,204013.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204012.57,3648.8653,N,-12158.7368,W,1,03,00.5,069.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 917.997113 : TerrainNav update at dvl time = 917.997113 : _navData-> (x,y) = (4074772.39, 591071.67) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204014.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204013.57,3648.8655,N,-12158.7360,W,1,03,00.5,070.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204015.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204014.57,3648.8658,N,-12158.7352,W,1,03,00.5,070.0,M,-99.9,M,,*41 : Estimated North Bias at time = 918.00 : 74.12 : Estimated East Bias at time = 918.00 : -8.62 : Estimated Depth Bias at time = 918.00 : -0.31 : Estimated northing and easting = 4074846.51 : 591063.06 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 73.11 dEasting = -10.97 : AshtechGps::processRecord() - $GPGGA,204016.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204015.57,3648.8661,N,-12158.7344,W,1,03,00.5,070.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 920.996907 : TerrainNav update at dvl time = 920.996907 : _navData-> (x,y) = (4074774.04, 591075.15) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204017.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204016.57,3648.8664,N,-12158.7337,W,1,03,00.5,071.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204018.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204017.57,3648.8668,N,-12158.7330,W,1,03,00.5,070.9,M,-99.9,M,,*4c : Estimated North Bias at time = 921.00 : 68.78 : Estimated East Bias at time = 921.00 : -10.94 : Estimated Depth Bias at time = 921.00 : -0.28 : Estimated northing and easting = 4074842.83 : 591064.21 : AshtechGps::processRecord() - $GPGGA,204019.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 67.07 dEasting = -13.16 : NMEA Update: $GPGGA,204018.57,3648.8673,N,-12158.7324,W,1,03,00.5,071.9,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 923.996702 : TerrainNav update at dvl time = 923.996702 : _navData-> (x,y) = (4074776.46, 591078.09) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204020.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204019.57,3648.8678,N,-12158.7318,W,1,03,00.5,073.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 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: , : NMEA Update: $GPGGA,204020.57,3648.8683,N,-12158.7312,W,1,03,00.5,072.9,M,-99.9,M,,*4f : Estimated North Bias at time = 924.00 : 63.32 : Estimated East Bias at time = 924.00 : -11.64 : Estimated Depth Bias at time = 924.00 : -0.27 : Estimated northing and easting = 4074839.79 : 591066.45 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 61.56 dEasting = -13.07 : AshtechGps::processRecord() - $GPGGA,204022.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204021.57,3648.8689,N,-12158.7307,W,1,03,00.5,074.4,M,-99.9,M,,*4b : TerrainNav update at nav time = 926.996496 : TerrainNav update at dvl time = 926.996496 : _navData-> (x,y) = (4074779.49, 591080.33) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204023.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204022.57,3648.8694,N,-12158.7303,W,1,03,00.5,075.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204024.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204023.57,3648.8700,N,-12158.7300,W,1,03,00.5,076.1,M,-99.9,M,,*49 : Estimated North Bias at time = 927.00 : 58.00 : Estimated East Bias at time = 927.00 : -10.88 : Estimated Depth Bias at time = 927.00 : -0.26 : Estimated northing and easting = 4074837.50 : 591069.44 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 56.22 dEasting = -11.73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204025.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204024.57,3648.8707,N,-12158.7297,W,1,03,00.5,078.1,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 929.996291 : TerrainNav update at dvl time = 929.996291 : _navData-> (x,y) = (4074782.89, 591081.73) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204026.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204025.57,3648.8713,N,-12158.7294,W,1,03,00.5,079.5,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 930.00 : 53.04 : Estimated East Bias at time = 930.00 : -8.95 : Estimated Depth Bias at time = 930.00 : -0.27 : Estimated northing and easting = 4074835.93 : 591072.78 : AshtechGps::processRecord() - $GPGGA,204027.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 51.62 dEasting = -9.22 : NMEA Update: $GPGGA,204026.57,3648.8719,N,-12158.7293,W,1,03,00.5,079.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 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: , : NMEA Update: $GPGGA,204027.57,3648.8726,N,-12158.7292,W,1,03,00.5,081.6,M,-99.9,M,,*4c : TerrainNav update at nav time = 932.996085 : TerrainNav update at dvl time = 932.996085 : _navData-> (x,y) = (4074786.44, 591082.10) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204029.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204028.57,3648.8732,N,-12158.7292,W,1,03,00.5,084.3,M,-99.9,M,,*46 : Estimated North Bias at time = 933.00 : 48.90 : Estimated East Bias at time = 933.00 : -5.75 : Estimated Depth Bias at time = 933.00 : -0.27 : Estimated northing and easting = 4074835.34 : 591076.36 : AshtechGps::processRecord() - $GPGGA,204030.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 47.50 dEasting = -5.60 : NMEA Update: $GPGGA,204029.57,3648.8738,N,-12158.7294,W,1,03,00.5,082.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204031.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204030.57,3648.8744,N,-12158.7296,W,1,03,00.5,083.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 935.995880 : TerrainNav update at dvl time = 935.995880 : _navData-> (x,y) = (4074789.79, 591081.13) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204032.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204031.57,3648.8750,N,-12158.7300,W,1,03,00.5,085.5,M,-99.9,M,,*47 : Estimated North Bias at time = 936.00 : 45.90 : Estimated East Bias at time = 936.00 : -1.31 : Estimated Depth Bias at time = 936.00 : -0.29 : Estimated northing and easting = 4074835.69 : 591079.82 : AshtechGps::processRecord() - $GPGGA,204033.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 44.67 dEasting = -0.62 : NMEA Update: $GPGGA,204032.57,3648.8755,N,-12158.7304,W,1,03,00.5,086.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204034.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204033.57,3648.8760,N,-12158.7309,W,1,03,00.5,087.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 938.995674 : TerrainNav update at dvl time = 938.995674 : _navData-> (x,y) = (4074792.59, 591079.00) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204035.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204034.57,3648.8765,N,-12158.7315,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : Estimated North Bias at time = 939.00 : 44.23 : Estimated East Bias at time = 939.00 : 3.86 : Estimated Depth Bias at time = 939.00 : -0.31 : Estimated northing and easting = 4074836.82 : 591082.86 : AshtechGps::processRecord() - $GPGGA,204036.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 43.40 dEasting = 4.97 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204035.57,3648.8768,N,-12158.7321,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,204037.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204036.57,3648.8771,N,-12158.7328,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 941.995469 : TerrainNav update at dvl time = 941.995469 : _navData-> (x,y) = (4074794.37, 591076.08) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204038.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 942.00 : 44.47 : Estimated East Bias at time = 942.00 : 9.33 : Estimated Depth Bias at time = 942.00 : -0.31 : Estimated northing and easting = 4074838.84 : 591085.41 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 44.37 dEasting = 9.78 : NMEA Update: $GPGGA,204037.57,3648.8773,N,-12158.7335,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204039.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204038.57,3648.8775,N,-12158.7343,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,204040.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204039.57,3648.8775,N,-12158.7350,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 944.995263 : TerrainNav update at dvl time = 944.995263 : _navData-> (x,y) = (4074794.85, 591072.72) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204041.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 945.00 : 46.63 : Estimated East Bias at time = 945.00 : 14.24 : Estimated Depth Bias at time = 945.00 : -0.31 : Estimated northing and easting = 4074841.48 : 591086.96 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 46.64 dEasting = 14.70 : NMEA Update: $GPGGA,204040.57,3648.8776,N,-12158.7358,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204042.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204041.57,3648.8775,N,-12158.7365,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,204043.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204042.57,3648.8773,N,-12158.7373,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : TerrainNav update at nav time = 947.995058 : TerrainNav update at dvl time = 947.995058 : _navData-> (x,y) = (4074794.03, 591069.39) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204044.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 948.00 : 50.27 : Estimated East Bias at time = 948.00 : 18.42 : Estimated Depth Bias at time = 948.00 : -0.31 : Estimated northing and easting = 4074844.30 : 591087.81 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 50.47 dEasting = 18.83 : NMEA Update: $GPGGA,204043.57,3648.8770,N,-12158.7380,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204045.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204044.57,3648.8767,N,-12158.7387,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204046.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204045.57,3648.8763,N,-12158.7393,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainNav update at nav time = 950.994852 : TerrainNav update at dvl time = 950.994852 : _navData-> (x,y) = (4074792.06, 591066.53) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204047.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 950.99 : 55.18 : Estimated East Bias at time = 950.99 : 20.91 : Estimated Depth Bias at time = 950.99 : -0.31 : Estimated northing and easting = 4074847.24 : 591087.44 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 55.53 dEasting = 21.24 : NMEA Update: $GPGGA,204046.57,3648.8759,N,-12158.7399,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204048.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204047.57,3648.8754,N,-12158.7404,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204049.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204048.57,3648.8749,N,-12158.7408,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainNav update at nav time = 953.994647 : TerrainNav update at dvl time = 953.994647 : _navData-> (x,y) = (4074789.28, 591064.54) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204050.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 953.99 : 60.84 : Estimated East Bias at time = 953.99 : 21.49 : Estimated Depth Bias at time = 953.99 : -0.31 : Estimated northing and easting = 4074850.12 : 591086.04 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 61.25 dEasting = 21.70 : NMEA Update: $GPGGA,204049.57,3648.8744,N,-12158.7412,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,204051.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204050.57,3648.8738,N,-12158.7414,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204052.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204051.57,3648.8732,N,-12158.7416,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 956.994441 : TerrainNav update at dvl time = 956.994441 : _navData-> (x,y) = (4074786.03, 591063.59) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204053.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204052.58,3648.8726,N,-12158.7417,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : Estimated North Bias at time = 956.99 : 66.27 : Estimated East Bias at time = 956.99 : 20.27 : Estimated Depth Bias at time = 956.99 : -0.31 : Estimated northing and easting = 4074852.29 : 591083.86 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 67.40 dEasting = 20.35 : AshtechGps::processRecord() - $GPGGA,204054.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204053.58,3648.8720,N,-12158.7417,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204055.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204054.58,3648.8714,N,-12158.7417,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 959.994236 : TerrainNav update at dvl time = 959.994236 : _navData-> (x,y) = (4074782.65, 591063.84) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204056.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204055.58,3648.8708,N,-12158.7414,W,1,03,00.5,092.1,M,-99.9,M,,*47 : Estimated North Bias at time = 959.99 : 71.08 : Estimated East Bias at time = 959.99 : 17.18 : Estimated Depth Bias at time = 959.99 : -0.30 : Estimated northing and easting = 4074853.73 : 591081.02 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 72.17 dEasting = 16.70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204057.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204056.58,3648.8702,N,-12158.7411,W,1,03,00.5,093.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204058.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204057.58,3648.8696,N,-12158.7408,W,1,03,00.5,093.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 962.994030 : TerrainNav update at dvl time = 962.994030 : _navData-> (x,y) = (4074779.53, 591065.34) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204059.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204058.58,3648.8691,N,-12158.7404,W,1,03,00.5,093.9,M,-99.9,M,,*43 : Estimated North Bias at time = 962.99 : 74.38 : Estimated East Bias at time = 962.99 : 12.13 : Estimated Depth Bias at time = 962.99 : -0.29 : Estimated northing and easting = 4074853.90 : 591077.47 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 75.36 dEasting = 11.42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204100.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204059.58,3648.8686,N,-12158.7399,W,1,03,00.5,093.9,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204101.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204100.58,3648.8681,N,-12158.7394,W,1,03,00.5,093.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 965.993825 : TerrainNav update at dvl time = 965.993825 : _navData-> (x,y) = (4074776.88, 591067.64) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204102.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204101.58,3648.8677,N,-12158.7388,W,1,03,00.5,093.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 965.99 : 76.11 : Estimated East Bias at time = 965.99 : 6.16 : Estimated Depth Bias at time = 965.99 : -0.30 : Estimated northing and easting = 4074852.99 : 591073.80 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 76.79 dEasting = 5.23 : AshtechGps::processRecord() - $GPGGA,204103.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204102.58,3648.8674,N,-12158.7381,W,1,03,00.5,092.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204104.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204103.58,3648.8670,N,-12158.7373,W,1,03,00.5,092.6,M,-99.9,M,,*4a : TerrainNav update at nav time = 968.993619 : TerrainNav update at dvl time = 968.993619 : _navData-> (x,y) = (4074775.09, 591070.88) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204105.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204104.58,3648.8668,N,-12158.7365,W,1,03,00.5,090.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 968.99 : 75.92 : Estimated East Bias at time = 968.99 : -0.51 : Estimated Depth Bias at time = 968.99 : -0.30 : Estimated northing and easting = 4074851.01 : 591070.37 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 76.32 dEasting = -1.74 : AshtechGps::processRecord() - $GPGGA,204106.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204105.58,3648.8666,N,-12158.7357,W,1,03,00.5,090.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204107.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204106.58,3648.8664,N,-12158.7348,W,1,03,00.5,090.1,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 971.993414 : TerrainNav update at dvl time = 971.993414 : _navData-> (x,y) = (4074774.20, 591074.65) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204108.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204107.58,3648.8663,N,-12158.7340,W,1,03,00.5,089.3,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 971.99 : 74.01 : Estimated East Bias at time = 971.99 : -6.99 : Estimated Depth Bias at time = 971.99 : -0.31 : Estimated northing and easting = 4074848.21 : 591067.66 : AshtechGps::processRecord() - $GPGGA,204109.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 74.09 dEasting = -8.54 : NMEA Update: $GPGGA,204108.58,3648.8663,N,-12158.7331,W,1,03,00.5,091.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204110.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204109.58,3648.8664,N,-12158.7322,W,1,03,00.5,087.1,M,-99.9,M,,*42 : TerrainNav update at nav time = 974.993208 : TerrainNav update at dvl time = 974.993208 : _navData-> (x,y) = (4074774.32, 591078.52) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204111.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204110.58,3648.8665,N,-12158.7314,W,1,03,00.5,091.5,M,-99.9,M,,*4d : Estimated North Bias at time = 974.99 : 70.49 : Estimated East Bias at time = 974.99 : -12.95 : Estimated Depth Bias at time = 974.99 : -0.34 : Estimated northing and easting = 4074844.81 : 591065.56 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 70.22 dEasting = -14.22 : AshtechGps::processRecord() - $GPGGA,204112.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204111.58,3648.8666,N,-12158.7305,W,1,03,00.5,089.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204113.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204112.58,3648.8669,N,-12158.7297,W,1,03,00.5,092.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 977.993003 : TerrainNav update at dvl time = 977.993003 : _navData-> (x,y) = (4074775.54, 591082.15) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204114.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204113.58,3648.8672,N,-12158.7290,W,1,03,00.5,088.9,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 977.99 : 65.65 : Estimated East Bias at time = 977.99 : -17.45 : Estimated Depth Bias at time = 977.99 : -0.35 : Estimated northing and easting = 4074841.19 : 591064.70 : AshtechGps::processRecord() - $GPGGA,204115.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 64.87 dEasting = -18.75 : NMEA Update: $GPGGA,204114.58,3648.8676,N,-12158.7283,W,1,03,00.5,092.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204116.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204115.58,3648.8680,N,-12158.7276,W,1,03,00.5,090.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 981.002797 : TerrainNav update at dvl time = 981.002797 : _navData-> (x,y) = (4074777.79, 591085.15) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204117.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204116.58,3648.8684,N,-12158.7270,W,1,03,00.5,090.4,M,-99.9,M,,*47 : Estimated North Bias at time = 981.00 : 59.85 : Estimated East Bias at time = 981.00 : -19.87 : Estimated Depth Bias at time = 981.00 : -0.32 : Estimated northing and easting = 4074837.64 : 591065.28 : AshtechGps::processRecord() - $GPGGA,204118.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 58.75 dEasting = -20.85 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204117.58,3648.8689,N,-12158.7265,W,1,03,00.5,091.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204119.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204118.58,3648.8695,N,-12158.7260,W,1,03,00.5,092.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 984.002591 : TerrainNav update at dvl time = 984.002591 : _navData-> (x,y) = (4074780.71, 591087.33) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204120.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204119.58,3648.8700,N,-12158.7256,W,1,03,00.5,094.7,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 984.00 : 53.51 : Estimated East Bias at time = 984.00 : -20.01 : Estimated Depth Bias at time = 984.00 : -0.30 : Estimated northing and easting = 4074834.22 : 591067.32 : AshtechGps::processRecord() - $GPGGA,204121.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 52.23 dEasting = -20.61 : NMEA Update: $GPGGA,204120.58,3648.8706,N,-12158.7253,W,1,03,00.5,096.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204122.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204121.58,3648.8712,N,-12158.7250,W,1,03,00.5,099.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 987.002386 : TerrainNav update at dvl time = 987.002386 : _navData-> (x,y) = (4074783.98, 591088.58) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204123.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204122.58,3648.8718,N,-12158.7248,W,1,03,00.5,101.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204124.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 987.00 : 47.42 : Estimated East Bias at time = 987.00 : -17.92 : Estimated Depth Bias at time = 987.00 : -0.28 : Estimated northing and easting = 4074831.40 : 591070.66 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 46.06 dEasting = -18.11 : NMEA Update: $GPGGA,204123.58,3648.8724,N,-12158.7247,W,1,03,00.5,103.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204125.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204124.58,3648.8731,N,-12158.7248,W,1,03,00.5,105.5,M,-99.9,M,,*4e : TerrainNav update at nav time = 990.002180 : TerrainNav update at dvl time = 990.002180 : _navData-> (x,y) = (4074787.40, 591088.65) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204126.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204125.58,3648.8737,N,-12158.7248,W,1,03,00.5,105.5,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 990.00 : 42.23 : Estimated East Bias at time = 990.00 : -13.92 : Estimated Depth Bias at time = 990.00 : -0.18 : Estimated northing and easting = 4074829.63 : 591074.73 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 41.12 dEasting = -13.67 : AshtechGps::processRecord() - $GPGGA,204127.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204126.58,3648.8743,N,-12158.7251,W,1,03,00.5,103.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204128.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204127.58,3648.8749,N,-12158.7253,W,1,03,00.5,106.3,M,-99.9,M,,*4d : TerrainNav update at nav time = 993.001975 : TerrainNav update at dvl time = 993.001975 : _navData-> (x,y) = (4074790.65, 591087.56) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204129.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204128.58,3648.8754,N,-12158.7257,W,1,03,00.5,108.8,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 993.00 : 38.58 : Estimated East Bias at time = 993.00 : -9.09 : Estimated Depth Bias at time = 993.00 : -0.11 : Estimated northing and easting = 4074829.23 : 591078.47 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 37.63 dEasting = -8.50 : AshtechGps::processRecord() - $GPGGA,204130.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204129.58,3648.8759,N,-12158.7261,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204131.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204130.58,3648.8764,N,-12158.7266,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainNav update at nav time = 996.001769 : TerrainNav update at dvl time = 996.001769 : _navData-> (x,y) = (4074793.25, 591085.37) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204132.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204131.58,3648.8768,N,-12158.7272,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : Estimated North Bias at time = 996.00 : 36.83 : AshtechGps::processRecord() - $GPGGA,204133.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 996.00 : -3.54 : Estimated Depth Bias at time = 996.00 : -0.11 : Estimated northing and easting = 4074830.08 : 591081.83 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 36.02 dEasting = -2.45 : NMEA Update: $GPGGA,204132.58,3648.8771,N,-12158.7278,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204134.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204133.58,3648.8774,N,-12158.7285,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 999.001564 : TerrainNav update at dvl time = 999.001564 : _navData-> (x,y) = (4074795.02, 591082.47) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204135.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 999.00 : 37.00 : Estimated East Bias at time = 999.00 : 2.37 : Estimated Depth Bias at time = 999.00 : -0.11 : Estimated northing and easting = 4074832.02 : 591084.84 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 36.87 dEasting = 2.82 : NMEA Update: $GPGGA,204134.58,3648.8777,N,-12158.7292,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,204136.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204135.58,3648.8778,N,-12158.7300,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204137.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204136.58,3648.8779,N,-12158.7308,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1002.001358 : TerrainNav update at dvl time = 1002.001358 : _navData-> (x,y) = (4074795.64, 591078.99) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204138.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1002.00 : 39.16 : Estimated East Bias at time = 1002.00 : 8.16 : Estimated Depth Bias at time = 1002.00 : -0.11 : Estimated northing and easting = 4074834.80 : 591087.14 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 39.17 dEasting = 8.64 : NMEA Update: $GPGGA,204137.58,3648.8779,N,-12158.7316,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,204139.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204138.58,3648.8779,N,-12158.7324,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,204140.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204139.58,3648.8778,N,-12158.7332,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : Behavior ascend - Timed out! : LayeredControl::execute() -- (t = 1045.398385) Behavior ascend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 1045.398385) Behavior setpoint:-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 = 1005.001153 : TerrainNav update at dvl time = 1005.001153 : _navData-> (x,y) = (4074795.06, 591075.52) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204141.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1005.00 : 43.13 : Estimated East Bias at time = 1005.00 : 13.21 : Estimated Depth Bias at time = 1005.00 : -0.11 : Estimated northing and easting = 4074838.20 : 591088.74 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 43.27 dEasting = 13.63 : NMEA Update: $GPGGA,204140.58,3648.8776,N,-12158.7339,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204142.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204141.58,3648.8773,N,-12158.7345,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,204143.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204142.58,3648.8771,N,-12158.7349,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1008.000947 : TerrainNav update at dvl time = 1008.000947 : _navData-> (x,y) = (4074793.71, 591073.03) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204144.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1008.00 : 47.80 : Estimated East Bias at time = 1008.00 : 16.45 : Estimated Depth Bias at time = 1008.00 : -0.11 : Estimated northing and easting = 4074841.51 : 591089.48 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 48.05 dEasting = 16.76 : NMEA Update: $GPGGA,204143.58,3648.8768,N,-12158.7355,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204145.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204144.58,3648.8765,N,-12158.7360,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,204146.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204145.58,3648.8761,N,-12158.7365,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1011.000742 : TerrainNav update at dvl time = 1011.000742 : _navData-> (x,y) = (4074791.64, 591070.95) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204147.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1011.00 : 52.98 : Estimated East Bias at time = 1011.00 : 18.21 : Estimated Depth Bias at time = 1011.00 : -0.11 : Estimated northing and easting = 4074844.62 : 591089.15 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 53.29 dEasting = 18.43 : NMEA Update: $GPGGA,204146.58,3648.8757,N,-12158.7368,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204148.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204147.58,3648.8753,N,-12158.7371,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204149.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204148.58,3648.8749,N,-12158.7373,W,1,03,00.5,119.5,M,-99.9,M,,*4f : TerrainNav update at nav time = 1014.000536 : TerrainNav update at dvl time = 1014.000536 : _navData-> (x,y) = (4074789.45, 591069.99) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204150.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1014.00 : 57.81 : Estimated East Bias at time = 1014.00 : 18.02 : Estimated Depth Bias at time = 1014.00 : -0.11 : Estimated northing and easting = 4074847.26 : 591088.01 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 58.12 dEasting = 18.08 : NMEA Update: $GPGGA,204149.58,3648.8745,N,-12158.7374,W,1,03,00.5,114.3,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,204151.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204150.58,3648.8741,N,-12158.7375,W,1,03,00.5,122.4,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,204152.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204151.58,3648.8737,N,-12158.7375,W,1,03,00.5,119.2,M,-99.9,M,,*4f : TerrainNav update at nav time = 1017.000331 : TerrainNav update at dvl time = 1017.000331 : _navData-> (x,y) = (4074787.29, 591069.70) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204153.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1017.00 : 61.42 : Estimated East Bias at time = 1017.00 : 16.41 : Estimated Depth Bias at time = 1017.00 : -0.11 : Estimated northing and easting = 4074848.72 : 591086.11 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 61.67 dEasting = 16.45 : NMEA Update: $GPGGA,204152.58,3648.8734,N,-12158.7376,W,1,03,00.5,121.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204154.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204153.58,3648.8730,N,-12158.7377,W,1,03,00.5,121.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204155.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204154.58,3648.8727,N,-12158.7378,W,1,03,00.5,119.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1020.000125 : TerrainNav update at dvl time = 1020.000125 : _navData-> (x,y) = (4074785.59, 591069.34) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204156.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1020.00 : 64.08 : Estimated East Bias at time = 1020.00 : 15.06 : Estimated Depth Bias at time = 1020.00 : -0.11 : Estimated northing and easting = 4074849.67 : 591084.40 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 64.28 dEasting = 15.12 : NMEA Update: $GPGGA,204155.58,3648.8725,N,-12158.7379,W,1,03,00.5,115.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204157.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204156.58,3648.8722,N,-12158.7379,W,1,03,00.5,113.7,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,204158.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204157.58,3648.8719,N,-12158.7380,W,1,03,00.5,113.9,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1022.999920 : TerrainNav update at dvl time = 1022.999920 : _navData-> (x,y) = (4074784.09, 591069.07) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204159.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1023.00 : 66.52 : Estimated East Bias at time = 1023.00 : 13.58 : Estimated Depth Bias at time = 1023.00 : -0.11 : Estimated northing and easting = 4074850.61 : 591082.65 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 66.73 dEasting = 13.61 : NMEA Update: $GPGGA,204158.58,3648.8716,N,-12158.7380,W,1,03,00.5,114.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204200.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204159.58,3648.8714,N,-12158.7381,W,1,03,00.5,116.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204201.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204200.58,3648.8711,N,-12158.7382,W,1,03,00.5,120.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1025.999714 : TerrainNav update at dvl time = 1025.999714 : _navData-> (x,y) = (4074782.66, 591068.77) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204202.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1026.00 : 68.49 : Estimated East Bias at time = 1026.00 : 12.43 : Estimated Depth Bias at time = 1026.00 : -0.11 : Estimated northing and easting = 4074851.16 : 591081.19 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 68.67 dEasting = 12.48 : NMEA Update: $GPGGA,204201.58,3648.8709,N,-12158.7383,W,1,03,00.5,120.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204203.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204202.58,3648.8707,N,-12158.7384,W,1,03,00.5,121.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204204.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204203.58,3648.8705,N,-12158.7384,W,1,03,00.5,121.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1028.999509 : TerrainNav update at dvl time = 1028.999509 : _navData-> (x,y) = (4074781.51, 591068.38) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204205.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1029.00 : 70.29 : Estimated East Bias at time = 1029.00 : 11.65 : Estimated Depth Bias at time = 1029.00 : -0.11 : Estimated northing and easting = 4074851.79 : 591080.03 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 70.43 dEasting = 11.69 : NMEA Update: $GPGGA,204204.58,3648.8703,N,-12158.7385,W,1,03,00.5,123.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204206.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204205.58,3648.8701,N,-12158.7386,W,1,03,00.5,122.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204207.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204206.58,3648.8699,N,-12158.7386,W,1,03,00.5,123.6,M,-99.9,M,,*4a : TerrainNav update at nav time = 1031.999303 : TerrainNav update at dvl time = 1031.999303 : _navData-> (x,y) = (4074780.40, 591068.11) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204208.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1032.00 : 71.85 : Estimated East Bias at time = 1032.00 : 10.90 : Estimated Depth Bias at time = 1032.00 : -0.11 : Estimated northing and easting = 4074852.25 : 591079.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 72.00 dEasting = 10.94 : NMEA Update: $GPGGA,204207.58,3648.8697,N,-12158.7387,W,1,03,00.5,122.7,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204209.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204208.58,3648.8695,N,-12158.7388,W,1,03,00.5,122.7,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204210.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204209.58,3648.8693,N,-12158.7389,W,1,03,00.5,122.5,M,-99.9,M,,*42 : TerrainNav update at nav time = 1034.999098 : TerrainNav update at dvl time = 1034.999098 : _navData-> (x,y) = (4074779.36, 591067.71) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204211.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1035.00 : 73.35 : Estimated East Bias at time = 1035.00 : 10.25 : Estimated Depth Bias at time = 1035.00 : -0.11 : Estimated northing and easting = 4074852.70 : 591077.96 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 73.48 dEasting = 10.30 : NMEA Update: $GPGGA,204210.58,3648.8691,N,-12158.7390,W,1,03,00.5,121.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204212.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204211.58,3648.8690,N,-12158.7391,W,1,03,00.5,120.3,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204213.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204212.58,3648.8688,N,-12158.7392,W,1,03,00.5,120.0,M,-99.9,M,,*4f : TerrainNav update at nav time = 1037.998892 : TerrainNav update at dvl time = 1037.998892 : _navData-> (x,y) = (4074778.40, 591067.29) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204214.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1038.00 : 74.83 : Estimated East Bias at time = 1038.00 : 9.73 : Estimated Depth Bias at time = 1038.00 : -0.11 : Estimated northing and easting = 4074853.23 : 591077.01 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 74.95 dEasting = 9.78 : NMEA Update: $GPGGA,204213.58,3648.8686,N,-12158.7393,W,1,03,00.5,117.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204215.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204214.58,3648.8685,N,-12158.7394,W,1,03,00.5,118.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204216.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204215.58,3648.8683,N,-12158.7394,W,1,03,00.5,118.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1040.998687 : TerrainNav update at dvl time = 1040.998687 : _navData-> (x,y) = (4074777.56, 591066.94) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204217.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1041.00 : 76.13 : Estimated East Bias at time = 1041.00 : 9.17 : Estimated Depth Bias at time = 1041.00 : -0.11 : Estimated northing and easting = 4074853.69 : 591076.11 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 76.22 dEasting = 9.21 : NMEA Update: $GPGGA,204216.58,3648.8682,N,-12158.7395,W,1,03,00.5,116.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204218.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204217.58,3648.8681,N,-12158.7396,W,1,03,00.5,117.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204219.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204218.58,3648.8680,N,-12158.7397,W,1,03,00.5,118.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1043.998481 : TerrainNav update at dvl time = 1043.998481 : _navData-> (x,y) = (4074777.01, 591066.55) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204220.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1044.00 : 77.15 : Estimated East Bias at time = 1044.00 : 8.63 : Estimated Depth Bias at time = 1044.00 : -0.11 : Estimated northing and easting = 4074854.16 : 591075.18 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 77.23 dEasting = 8.68 : NMEA Update: $GPGGA,204219.58,3648.8679,N,-12158.7398,W,1,03,00.5,118.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204221.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204220.58,3648.8678,N,-12158.7399,W,1,03,00.5,117.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204222.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204221.58,3648.8677,N,-12158.7399,W,1,03,00.5,119.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1046.998276 : TerrainNav update at dvl time = 1046.998276 : _navData-> (x,y) = (4074776.39, 591066.21) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204223.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1047.00 : 78.31 : Estimated East Bias at time = 1047.00 : 8.09 : Estimated Depth Bias at time = 1047.00 : -0.11 : Estimated northing and easting = 4074854.70 : 591074.31 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 78.40 dEasting = 8.13 : NMEA Update: $GPGGA,204222.57,3648.8676,N,-12158.7400,W,1,03,00.5,118.4,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,204224.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204223.57,3648.8674,N,-12158.7401,W,1,03,00.5,118.4,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204225.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204224.57,3648.8673,N,-12158.7402,W,1,03,00.5,123.5,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1049.998070 : TerrainNav update at dvl time = 1049.998070 : _navData-> (x,y) = (4074775.77, 591065.91) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204226.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1050.00 : 79.24 : Estimated East Bias at time = 1050.00 : 7.77 : Estimated Depth Bias at time = 1050.00 : -0.11 : Estimated northing and easting = 4074855.00 : 591073.68 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 79.31 dEasting = 7.81 : NMEA Update: $GPGGA,204225.57,3648.8672,N,-12158.7402,W,1,03,00.5,122.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204227.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204226.57,3648.8671,N,-12158.7403,W,1,03,00.5,124.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204228.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204227.57,3648.8670,N,-12158.7403,W,1,03,00.5,125.0,M,-99.9,M,,*4b : TerrainNav update at nav time = 1052.997865 : TerrainNav update at dvl time = 1052.997865 : _navData-> (x,y) = (4074775.16, 591065.71) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204229.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1053.00 : 80.12 : Estimated East Bias at time = 1053.00 : 7.39 : Estimated Depth Bias at time = 1053.00 : -0.11 : Estimated northing and easting = 4074855.29 : 591073.09 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 80.21 dEasting = 7.40 : NMEA Update: $GPGGA,204228.57,3648.8669,N,-12158.7403,W,1,03,00.5,125.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204230.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204229.57,3648.8668,N,-12158.7404,W,1,03,00.5,124.9,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,204231.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204230.57,3648.8667,N,-12158.7404,W,1,03,00.5,123.7,M,-99.9,M,,*4d : TerrainNav update at nav time = 1055.997659 : TerrainNav update at dvl time = 1055.997659 : _navData-> (x,y) = (4074774.52, 591065.59) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204232.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1056.00 : 80.83 : Estimated East Bias at time = 1056.00 : 6.85 : Estimated Depth Bias at time = 1056.00 : -0.11 : Estimated northing and easting = 4074855.35 : 591072.44 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 80.92 dEasting = 6.88 : NMEA Update: $GPGGA,204231.57,3648.8666,N,-12158.7404,W,1,03,00.5,123.7,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204233.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204232.57,3648.8665,N,-12158.7405,W,1,03,00.5,125.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204234.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204233.57,3648.8664,N,-12158.7406,W,1,03,00.5,124.8,M,-99.9,M,,*47 : TerrainNav update at nav time = 1058.997454 : TerrainNav update at dvl time = 1058.997454 : _navData-> (x,y) = (4074773.98, 591065.28) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204235.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1059.00 : 81.53 : Estimated East Bias at time = 1059.00 : 6.53 : Estimated Depth Bias at time = 1059.00 : -0.11 : Estimated northing and easting = 4074855.50 : 591071.82 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 81.59 dEasting = 6.57 : NMEA Update: $GPGGA,204234.57,3648.8663,N,-12158.7407,W,1,03,00.5,124.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204236.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204235.57,3648.8662,N,-12158.7407,W,1,03,00.5,124.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204237.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204236.57,3648.8661,N,-12158.7407,W,1,03,00.5,124.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1061.997248 : TerrainNav update at dvl time = 1061.997248 : _navData-> (x,y) = (4074773.56, 591065.12) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204238.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1062.00 : 82.16 : Estimated East Bias at time = 1062.00 : 6.20 : Estimated Depth Bias at time = 1062.00 : -0.11 : Estimated northing and easting = 4074855.72 : 591071.32 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 82.21 dEasting = 6.20 : NMEA Update: $GPGGA,204237.57,3648.8661,N,-12158.7407,W,1,03,00.5,124.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204239.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204238.57,3648.8660,N,-12158.7407,W,1,03,00.5,124.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204240.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204239.57,3648.8659,N,-12158.7407,W,1,03,00.5,125.8,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1064.997043 : TerrainNav update at dvl time = 1064.997043 : _navData-> (x,y) = (4074773.20, 591065.18) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204241.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1065.00 : 82.48 : Estimated East Bias at time = 1065.00 : 5.78 : Estimated Depth Bias at time = 1065.00 : -0.11 : Estimated northing and easting = 4074855.69 : 591070.96 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 82.53 dEasting = 5.78 : NMEA Update: $GPGGA,204240.57,3648.8659,N,-12158.7407,W,1,03,00.5,126.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204242.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204241.57,3648.8658,N,-12158.7407,W,1,03,00.5,124.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204243.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204242.57,3648.8657,N,-12158.7407,W,1,03,00.5,125.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1067.996837 : TerrainNav update at dvl time = 1067.996837 : _navData-> (x,y) = (4074772.84, 591065.11) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204244.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1068.00 : 82.75 : Estimated East Bias at time = 1068.00 : 5.50 : Estimated Depth Bias at time = 1068.00 : -0.11 : Estimated northing and easting = 4074855.59 : 591070.61 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 82.80 dEasting = 5.51 : NMEA Update: $GPGGA,204243.57,3648.8657,N,-12158.7408,W,1,03,00.5,124.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204245.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204244.57,3648.8656,N,-12158.7408,W,1,03,00.5,125.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204246.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204245.57,3648.8655,N,-12158.7408,W,1,03,00.5,125.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1070.996632 : TerrainNav update at dvl time = 1070.996632 : _navData-> (x,y) = (4074772.45, 591065.07) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204247.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1071.00 : 83.18 : Estimated East Bias at time = 1071.00 : 5.17 : Estimated Depth Bias at time = 1071.00 : -0.11 : Estimated northing and easting = 4074855.64 : 591070.24 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 83.24 dEasting = 5.16 : NMEA Update: $GPGGA,204246.57,3648.8655,N,-12158.7408,W,1,03,00.5,126.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204248.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204247.57,3648.8654,N,-12158.7407,W,1,03,00.5,126.0,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204249.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204248.57,3648.8653,N,-12158.7407,W,1,03,00.5,126.0,M,-99.9,M,,*44 : TerrainNav update at nav time = 1073.996426 : TerrainNav update at dvl time = 1073.996426 : _navData-> (x,y) = (4074772.00, 591065.25) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204250.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1074.00 : 83.43 : Estimated East Bias at time = 1074.00 : 4.58 : Estimated Depth Bias at time = 1074.00 : -0.11 : Estimated northing and easting = 4074855.42 : 591069.83 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 83.48 dEasting = 4.58 : NMEA Update: $GPGGA,204249.57,3648.8652,N,-12158.7407,W,1,03,00.5,126.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204251.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204250.57,3648.8652,N,-12158.7407,W,1,03,00.5,125.9,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204252.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204251.57,3648.8651,N,-12158.7407,W,1,03,00.5,125.7,M,-99.9,M,,*4a : TerrainNav update at nav time = 1076.996221 : TerrainNav update at dvl time = 1076.996221 : _navData-> (x,y) = (4074771.72, 591065.15) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204253.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1077.00 : 83.56 : Estimated East Bias at time = 1077.00 : 4.35 : Estimated Depth Bias at time = 1077.00 : -0.11 : Estimated northing and easting = 4074855.28 : 591069.49 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 83.58 dEasting = 4.38 : NMEA Update: $GPGGA,204252.57,3648.8651,N,-12158.7408,W,1,03,00.5,125.7,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,204254.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204253.57,3648.8650,N,-12158.7408,W,1,03,00.5,125.4,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204255.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204254.57,3648.8650,N,-12158.7407,W,1,03,00.5,126.1,M,-99.9,M,,*4b : TerrainNav update at nav time = 1079.996015 : TerrainNav update at dvl time = 1079.996015 : _navData-> (x,y) = (4074771.53, 591065.18) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204256.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1080.00 : 83.90 : Estimated East Bias at time = 1080.00 : 4.09 : Estimated Depth Bias at time = 1080.00 : -0.11 : Estimated northing and easting = 4074855.43 : 591069.26 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 83.93 dEasting = 4.05 : NMEA Update: $GPGGA,204255.57,3648.8650,N,-12158.7407,W,1,03,00.5,126.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204257.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204256.57,3648.8649,N,-12158.7406,W,1,03,00.5,126.7,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,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204257.57,3648.8649,N,-12158.7406,W,1,03,00.5,125.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1082.995810 : TerrainNav update at dvl time = 1082.995810 : _navData-> (x,y) = (4074771.23, 591065.47) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204259.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1083.00 : 83.86 : Estimated East Bias at time = 1083.00 : 3.62 : Estimated Depth Bias at time = 1083.00 : -0.11 : Estimated northing and easting = 4074855.09 : 591069.10 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 83.90 dEasting = 3.60 : NMEA Update: $GPGGA,204258.57,3648.8648,N,-12158.7405,W,1,03,00.5,127.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204300.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204259.57,3648.8647,N,-12158.7405,W,1,03,00.5,127.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204301.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204300.57,3648.8647,N,-12158.7405,W,1,03,00.5,127.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1085.995604 : TerrainNav update at dvl time = 1085.995604 : _navData-> (x,y) = (4074770.93, 591065.54) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204302.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1086.00 : 83.83 : Estimated East Bias at time = 1086.00 : 3.31 : Estimated Depth Bias at time = 1086.00 : -0.11 : Estimated northing and easting = 4074854.76 : 591068.85 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 83.86 dEasting = 3.32 : NMEA Update: $GPGGA,204301.57,3648.8646,N,-12158.7405,W,1,03,00.5,128.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204303.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204302.57,3648.8646,N,-12158.7405,W,1,03,00.5,128.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204304.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204303.57,3648.8646,N,-12158.7405,W,1,03,00.5,124.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1088.995399 : TerrainNav update at dvl time = 1088.995399 : _navData-> (x,y) = (4074770.81, 591065.49) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204305.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1089.00 : 83.94 : Estimated East Bias at time = 1089.00 : 3.11 : Estimated Depth Bias at time = 1089.00 : -0.11 : Estimated northing and easting = 4074854.76 : 591068.60 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 83.96 dEasting = 3.11 : NMEA Update: $GPGGA,204304.57,3648.8646,N,-12158.7405,W,1,03,00.5,124.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204306.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204305.57,3648.8646,N,-12158.7405,W,1,03,00.5,127.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204307.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204306.57,3648.8646,N,-12158.7405,W,1,03,00.5,125.7,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1091.995193 : TerrainNav update at dvl time = 1091.995193 : _navData-> (x,y) = (4074770.79, 591065.54) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204308.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1092.00 : 83.96 : Estimated East Bias at time = 1092.00 : 2.83 : Estimated Depth Bias at time = 1092.00 : -0.11 : Estimated northing and easting = 4074854.75 : 591068.37 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 83.97 dEasting = 2.82 : NMEA Update: $GPGGA,204307.57,3648.8646,N,-12158.7405,W,1,03,00.5,127.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204309.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204308.57,3648.8645,N,-12158.7405,W,1,03,00.5,127.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204310.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204309.57,3648.8645,N,-12158.7404,W,1,03,00.5,127.0,M,-99.9,M,,*45 : TerrainNav update at nav time = 1094.994988 : TerrainNav update at dvl time = 1094.994988 : _navData-> (x,y) = (4074770.65, 591065.60) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204311.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1094.99 : 84.05 : Estimated East Bias at time = 1094.99 : 2.64 : Estimated Depth Bias at time = 1094.99 : -0.11 : Estimated northing and easting = 4074854.70 : 591068.24 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 84.07 dEasting = 2.64 : NMEA Update: $GPGGA,204310.57,3648.8645,N,-12158.7404,W,1,03,00.5,127.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204312.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204311.57,3648.8645,N,-12158.7404,W,1,03,00.5,126.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204313.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204312.57,3648.8645,N,-12158.7404,W,1,03,00.5,126.9,M,-99.9,M,,*47 : TerrainNav update at nav time = 1097.994782 : TerrainNav update at dvl time = 1097.994782 : _navData-> (x,y) = (4074770.59, 591065.67) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204314.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1097.99 : 84.17 : Estimated East Bias at time = 1097.99 : 2.30 : Estimated Depth Bias at time = 1097.99 : -0.11 : Estimated northing and easting = 4074854.76 : 591067.97 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 84.18 dEasting = 2.32 : NMEA Update: $GPGGA,204313.57,3648.8645,N,-12158.7404,W,1,03,00.5,127.0,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,204315.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204314.57,3648.8645,N,-12158.7404,W,1,03,00.5,127.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204316.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204315.57,3648.8645,N,-12158.7404,W,1,03,00.5,127.1,M,-99.9,M,,*49 : TerrainNav update at nav time = 1100.994577 : TerrainNav update at dvl time = 1100.994577 : _navData-> (x,y) = (4074770.61, 591065.71) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204317.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1100.99 : 84.30 : Estimated East Bias at time = 1100.99 : 1.97 : Estimated Depth Bias at time = 1100.99 : -0.11 : Estimated northing and easting = 4074854.90 : 591067.67 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 84.28 dEasting = 1.94 : NMEA Update: $GPGGA,204316.57,3648.8645,N,-12158.7403,W,1,03,00.5,127.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204318.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204317.57,3648.8645,N,-12158.7403,W,1,03,00.5,127.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204319.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204318.58,3648.8644,N,-12158.7402,W,1,03,00.5,126.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1103.994371 : TerrainNav update at dvl time = 1103.994371 : _navData-> (x,y) = (4074770.49, 591066.00) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204320.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1103.99 : 84.39 : Estimated East Bias at time = 1103.99 : 1.75 : Estimated Depth Bias at time = 1103.99 : -0.11 : Estimated northing and easting = 4074854.88 : 591067.75 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 84.41 dEasting = 1.74 : NMEA Update: $GPGGA,204319.58,3648.8644,N,-12158.7402,W,1,03,00.5,126.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204321.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204320.58,3648.8644,N,-12158.7402,W,1,03,00.5,126.9,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,204322.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204321.58,3648.8644,N,-12158.7402,W,1,03,00.5,127.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1106.994166 : TerrainNav update at dvl time = 1106.994166 : _navData-> (x,y) = (4074770.53, 591065.99) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204323.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1106.99 : 84.26 : Estimated East Bias at time = 1106.99 : 1.53 : Estimated Depth Bias at time = 1106.99 : -0.11 : Estimated northing and easting = 4074854.79 : 591067.51 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 84.24 dEasting = 1.53 : NMEA Update: $GPGGA,204322.58,3648.8645,N,-12158.7402,W,1,03,00.5,127.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204324.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204323.58,3648.8645,N,-12158.7402,W,1,03,00.5,128.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204325.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204324.58,3648.8645,N,-12158.7401,W,1,03,00.5,128.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1109.993960 : TerrainNav update at dvl time = 1109.993960 : _navData-> (x,y) = (4074770.61, 591066.10) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204326.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1109.99 : 84.35 : Estimated East Bias at time = 1109.99 : 1.39 : Estimated Depth Bias at time = 1109.99 : -0.11 : Estimated northing and easting = 4074854.97 : 591067.49 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 84.36 dEasting = 1.38 : NMEA Update: $GPGGA,204325.58,3648.8645,N,-12158.7401,W,1,03,00.5,128.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204327.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204326.58,3648.8645,N,-12158.7401,W,1,03,00.5,128.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204328.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204327.58,3648.8644,N,-12158.7401,W,1,03,00.5,128.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1112.993755 : TerrainNav update at dvl time = 1112.993755 : _navData-> (x,y) = (4074770.53, 591066.18) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204329.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1112.99 : 84.42 : Estimated East Bias at time = 1112.99 : 1.14 : Estimated Depth Bias at time = 1112.99 : -0.11 : Estimated northing and easting = 4074854.95 : 591067.32 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 84.42 dEasting = 1.13 : NMEA Update: $GPGGA,204328.58,3648.8644,N,-12158.7400,W,1,03,00.5,128.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204330.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204329.58,3648.8644,N,-12158.7401,W,1,03,00.5,128.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204331.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204330.58,3648.8645,N,-12158.7401,W,1,03,00.5,128.1,M,-99.9,M,,*4b : TerrainNav update at nav time = 1115.993549 : TerrainNav update at dvl time = 1115.993549 : _navData-> (x,y) = (4074770.55, 591066.18) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204332.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1115.99 : 84.40 : Estimated East Bias at time = 1115.99 : 1.01 : Estimated Depth Bias at time = 1115.99 : -0.11 : Estimated northing and easting = 4074854.95 : 591067.18 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 84.39 dEasting = 1.01 : NMEA Update: $GPGGA,204331.58,3648.8645,N,-12158.7400,W,1,03,00.5,128.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204333.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204332.58,3648.8645,N,-12158.7400,W,1,03,00.5,128.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204334.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204333.58,3648.8645,N,-12158.7401,W,1,03,00.5,128.2,M,-99.9,M,,*4b : TerrainNav update at nav time = 1118.993344 : TerrainNav update at dvl time = 1118.993344 : _navData-> (x,y) = (4074770.61, 591066.18) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204335.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1118.99 : 84.45 : Estimated East Bias at time = 1118.99 : 0.92 : Estimated Depth Bias at time = 1118.99 : -0.11 : Estimated northing and easting = 4074855.06 : 591067.10 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 84.45 dEasting = 0.92 : NMEA Update: $GPGGA,204334.58,3648.8645,N,-12158.7400,W,1,03,00.5,128.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204336.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204335.58,3648.8645,N,-12158.7401,W,1,03,00.5,129.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204337.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204336.58,3648.8645,N,-12158.7400,W,1,03,00.5,129.5,M,-99.9,M,,*49 : TerrainNav update at nav time = 1121.993138 : TerrainNav update at dvl time = 1121.993138 : _navData-> (x,y) = (4074770.63, 591066.24) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204338.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1121.99 : 84.48 : Estimated East Bias at time = 1121.99 : 0.71 : Estimated Depth Bias at time = 1121.99 : -0.11 : Estimated northing and easting = 4074855.11 : 591066.96 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 84.47 dEasting = 0.68 : NMEA Update: $GPGGA,204337.58,3648.8645,N,-12158.7400,W,1,03,00.5,129.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204339.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204338.58,3648.8645,N,-12158.7399,W,1,03,00.5,129.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204340.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204339.58,3648.8645,N,-12158.7399,W,1,03,00.5,129.3,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1124.992933 : TerrainNav update at dvl time = 1124.992933 : _navData-> (x,y) = (4074770.64, 591066.51) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204341.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1124.99 : 84.39 : Estimated East Bias at time = 1124.99 : 0.47 : Estimated Depth Bias at time = 1124.99 : -0.12 : Estimated northing and easting = 4074855.03 : 591066.98 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 84.41 dEasting = 0.46 : NMEA Update: $GPGGA,204340.58,3648.8645,N,-12158.7398,W,1,03,00.5,129.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204342.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204341.58,3648.8645,N,-12158.7398,W,1,03,00.5,129.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204343.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204342.58,3648.8645,N,-12158.7398,W,1,03,00.5,129.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1128.002727 : TerrainNav update at dvl time = 1128.002727 : _navData-> (x,y) = (4074770.71, 591066.64) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204344.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1128.00 : 84.05 : Estimated East Bias at time = 1128.00 : 0.34 : Estimated Depth Bias at time = 1128.00 : -0.12 : Estimated northing and easting = 4074854.76 : 591066.99 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 84.03 dEasting = 0.32 : NMEA Update: $GPGGA,204343.58,3648.8645,N,-12158.7397,W,1,03,00.5,129.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204345.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204344.58,3648.8646,N,-12158.7397,W,1,03,00.5,130.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204346.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204345.58,3648.8646,N,-12158.7396,W,1,03,00.5,130.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1131.002521 : TerrainNav update at dvl time = 1131.002521 : _navData-> (x,y) = (4074770.90, 591066.90) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204347.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1131.00 : 83.60 : Estimated East Bias at time = 1131.00 : 0.07 : Estimated Depth Bias at time = 1131.00 : -0.12 : Estimated northing and easting = 4074854.49 : 591066.98 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 83.57 dEasting = 0.04 : NMEA Update: $GPGGA,204346.58,3648.8647,N,-12158.7395,W,1,03,00.5,130.6,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204348.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204347.58,3648.8647,N,-12158.7395,W,1,03,00.5,131.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204349.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204348.58,3648.8647,N,-12158.7394,W,1,03,00.5,131.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1134.002316 : TerrainNav update at dvl time = 1134.002316 : _navData-> (x,y) = (4074771.07, 591067.09) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204350.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1134.00 : 83.10 : Estimated East Bias at time = 1134.00 : -0.03 : Estimated Depth Bias at time = 1134.00 : -0.11 : Estimated northing and easting = 4074854.17 : 591067.07 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 83.08 dEasting = -0.04 : NMEA Update: $GPGGA,204349.58,3648.8647,N,-12158.7394,W,1,03,00.5,131.8,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204351.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204350.58,3648.8648,N,-12158.7394,W,1,03,00.5,130.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204352.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204351.58,3648.8648,N,-12158.7393,W,1,03,00.5,130.5,M,-99.9,M,,*40 : TerrainNav update at nav time = 1137.002110 : TerrainNav update at dvl time = 1137.002110 : _navData-> (x,y) = (4074771.29, 591067.32) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204353.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1137.00 : 82.72 : Estimated East Bias at time = 1137.00 : -0.33 : Estimated Depth Bias at time = 1137.00 : -0.11 : Estimated northing and easting = 4074854.01 : 591066.99 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 82.69 dEasting = -0.38 : NMEA Update: $GPGGA,204352.58,3648.8649,N,-12158.7392,W,1,03,00.5,131.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204354.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204353.58,3648.8649,N,-12158.7392,W,1,03,00.5,131.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204355.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204354.58,3648.8650,N,-12158.7392,W,1,03,00.5,131.8,M,-99.9,M,,*41 : TerrainNav update at nav time = 1140.001904 : TerrainNav update at dvl time = 1140.001904 : _navData-> (x,y) = (4074771.55, 591067.48) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204356.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1140.00 : 82.05 : Estimated East Bias at time = 1140.00 : -0.32 : Estimated Depth Bias at time = 1140.00 : -0.11 : Estimated northing and easting = 4074853.59 : 591067.16 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 82.04 dEasting = -0.32 : NMEA Update: $GPGGA,204355.58,3648.8650,N,-12158.7392,W,1,03,00.5,131.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204357.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204356.58,3648.8650,N,-12158.7391,W,1,03,00.5,131.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204358.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204357.58,3648.8650,N,-12158.7391,W,1,03,00.5,132.9,M,-99.9,M,,*43 : TerrainNav update at nav time = 1143.001699 : TerrainNav update at dvl time = 1143.001699 : _navData-> (x,y) = (4074771.59, 591067.73) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204359.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1143.00 : 81.77 : Estimated East Bias at time = 1143.00 : -0.75 : Estimated Depth Bias at time = 1143.00 : -0.12 : Estimated northing and easting = 4074853.36 : 591066.97 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 81.77 dEasting = -0.81 : NMEA Update: $GPGGA,204358.58,3648.8650,N,-12158.7390,W,1,03,00.5,132.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204400.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204359.58,3648.8650,N,-12158.7389,W,1,03,00.5,132.7,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204401.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204400.58,3648.8651,N,-12158.7389,W,1,03,00.5,132.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1146.001493 : TerrainNav update at dvl time = 1146.001493 : _navData-> (x,y) = (4074771.89, 591067.84) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204402.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1146.00 : 81.15 : Estimated East Bias at time = 1146.00 : -0.65 : Estimated Depth Bias at time = 1146.00 : -0.11 : Estimated northing and easting = 4074853.04 : 591067.19 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 81.11 dEasting = -0.62 : NMEA Update: $GPGGA,204401.58,3648.8652,N,-12158.7389,W,1,03,00.5,134.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204403.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204402.58,3648.8652,N,-12158.7390,W,1,03,00.5,134.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204404.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204403.58,3648.8653,N,-12158.7390,W,1,03,00.5,134.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1149.001288 : TerrainNav update at dvl time = 1149.001288 : _navData-> (x,y) = (4074772.09, 591067.69) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204405.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1149.00 : 81.33 : Estimated East Bias at time = 1149.00 : -0.43 : Estimated Depth Bias at time = 1149.00 : -0.11 : Estimated northing and easting = 4074853.41 : 591067.26 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 81.35 dEasting = -0.46 : NMEA Update: $GPGGA,204404.58,3648.8653,N,-12158.7390,W,1,03,00.5,134.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204406.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204405.58,3648.8652,N,-12158.7390,W,1,03,00.5,134.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204407.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204406.58,3648.8652,N,-12158.7389,W,1,03,00.5,134.1,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1152.001082 : TerrainNav update at dvl time = 1152.001082 : _navData-> (x,y) = (4074771.94, 591067.79) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204408.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1152.00 : 81.19 : Estimated East Bias at time = 1152.00 : -0.50 : Estimated Depth Bias at time = 1152.00 : -0.11 : Estimated northing and easting = 4074853.13 : 591067.29 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 81.20 dEasting = -0.49 : NMEA Update: $GPGGA,204407.58,3648.8652,N,-12158.7390,W,1,03,00.5,134.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204409.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204408.58,3648.8652,N,-12158.7390,W,1,03,00.5,142.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204410.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204409.58,3648.8652,N,-12158.7389,W,1,03,00.5,142.6,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1155.000877 : TerrainNav update at dvl time = 1155.000877 : _navData-> (x,y) = (4074771.91, 591067.81) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204411.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 1155.00 : 81.23 : Estimated East Bias at time = 1155.00 : -0.59 : Estimated Depth Bias at time = 1155.00 : -0.11 : Estimated northing and easting = 4074853.15 : 591067.22 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 81.23 dEasting = -0.56 : NMEA Update: $GPGGA,204410.58,3648.8652,N,-12158.7390,W,1,03,00.5,141.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204412.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204411.58,3648.8652,N,-12158.7391,W,1,03,00.5,141.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204413.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204412.58,3648.8652,N,-12158.7392,W,1,03,00.5,142.2,M,-99.9,M,,*48 : TerrainNav update at nav time = 1158.000671 : TerrainNav update at dvl time = 1158.000671 : _navData-> (x,y) = (4074771.94, 591067.25) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204414.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1158.00 : 81.36 : Estimated East Bias at time = 1158.00 : -0.19 : Estimated Depth Bias at time = 1158.00 : -0.11 : Estimated northing and easting = 4074853.30 : 591067.07 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 81.38 dEasting = -0.12 : NMEA Update: $GPGGA,204413.58,3648.8652,N,-12158.7394,W,1,03,00.5,144.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204415.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204414.58,3648.8651,N,-12158.7394,W,1,03,00.5,144.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204416.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204415.58,3648.8650,N,-12158.7394,W,1,03,00.5,144.6,M,-99.9,M,,*49 : TerrainNav update at nav time = 1161.000466 : TerrainNav update at dvl time = 1161.000466 : _navData-> (x,y) = (4074771.55, 591067.23) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204417.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1161.00 : 82.15 : Estimated East Bias at time = 1161.00 : -0.73 : Estimated Depth Bias at time = 1161.00 : -0.11 : Estimated northing and easting = 4074853.70 : 591066.50 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 82.21 dEasting = -0.77 : NMEA Update: $GPGGA,204416.58,3648.8650,N,-12158.7393,W,1,03,00.5,142.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204418.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204417.58,3648.8649,N,-12158.7393,W,1,03,00.5,142.7,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204419.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204418.58,3648.8649,N,-12158.7393,W,1,03,00.5,143.6,M,-99.9,M,,*4c : TerrainNav update at nav time = 1164.000261 : TerrainNav update at dvl time = 1164.000261 : _navData-> (x,y) = (4074771.38, 591067.19) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204420.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1164.00 : 81.86 : Estimated East Bias at time = 1164.00 : -0.70 : Estimated Depth Bias at time = 1164.00 : -0.11 : Estimated northing and easting = 4074853.23 : 591066.49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 81.85 dEasting = -0.64 : NMEA Update: $GPGGA,204419.58,3648.8649,N,-12158.7394,W,1,03,00.5,144.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204421.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204420.58,3648.8649,N,-12158.7395,W,1,03,00.5,145.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204422.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204421.58,3648.8650,N,-12158.7396,W,1,03,00.5,145.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1167.000055 : TerrainNav update at dvl time = 1167.000055 : _navData-> (x,y) = (4074771.53, 591066.78) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204423.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1167.00 : 81.87 : Estimated East Bias at time = 1167.00 : -0.53 : Estimated Depth Bias at time = 1167.00 : -0.11 : Estimated northing and easting = 4074853.40 : 591066.25 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 81.86 dEasting = -0.52 : NMEA Update: $GPGGA,204422.58,3648.8650,N,-12158.7396,W,1,03,00.5,137.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204424.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204423.58,3648.8650,N,-12158.7397,W,1,03,00.5,138.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204425.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204424.58,3648.8651,N,-12158.7399,W,1,03,00.5,137.5,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1169.999850 : TerrainNav update at dvl time = 1169.999850 : _navData-> (x,y) = (4074771.88, 591066.23) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204426.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1170.00 : 81.68 : Estimated East Bias at time = 1170.00 : -0.25 : Estimated Depth Bias at time = 1170.00 : -0.11 : Estimated northing and easting = 4074853.56 : 591065.98 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 81.64 dEasting = -0.12 : NMEA Update: $GPGGA,204425.58,3648.8652,N,-12158.7401,W,1,03,00.5,138.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204427.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204426.58,3648.8652,N,-12158.7402,W,1,03,00.5,139.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204428.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204427.58,3648.8652,N,-12158.7403,W,1,03,00.5,138.8,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1172.999644 : TerrainNav update at dvl time = 1172.999644 : _navData-> (x,y) = (4074771.90, 591065.81) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204429.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1173.00 : 82.46 : Estimated East Bias at time = 1173.00 : -0.73 : Estimated Depth Bias at time = 1173.00 : -0.11 : Estimated northing and easting = 4074854.36 : 591065.09 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 82.44 dEasting = -0.62 : NMEA Update: $GPGGA,204428.58,3648.8652,N,-12158.7404,W,1,03,00.5,140.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204430.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204429.58,3648.8653,N,-12158.7407,W,1,03,00.5,140.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204431.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204430.58,3648.8653,N,-12158.7408,W,1,03,00.5,140.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1175.999439 : TerrainNav update at dvl time = 1175.999439 : _navData-> (x,y) = (4074772.01, 591064.96) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204432.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1176.00 : 82.30 : Estimated East Bias at time = 1176.00 : -0.13 : Estimated Depth Bias at time = 1176.00 : -0.11 : Estimated northing and easting = 4074854.31 : 591064.83 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 82.32 dEasting = -0.08 : NMEA Update: $GPGGA,204431.58,3648.8652,N,-12158.7409,W,1,03,00.5,140.1,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204433.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204432.58,3648.8652,N,-12158.7410,W,1,03,00.5,140.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204434.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204433.58,3648.8653,N,-12158.7412,W,1,03,00.5,140.1,M,-99.9,M,,*44 : TerrainNav update at nav time = 1178.999233 : TerrainNav update at dvl time = 1178.999233 : _navData-> (x,y) = (4074772.05, 591064.33) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204435.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1179.00 : 82.27 : Estimated East Bias at time = 1179.00 : 0.14 : Estimated Depth Bias at time = 1179.00 : -0.11 : Estimated northing and easting = 4074854.32 : 591064.48 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 82.24 dEasting = 0.24 : NMEA Update: $GPGGA,204434.58,3648.8653,N,-12158.7413,W,1,03,00.5,139.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204436.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204435.58,3648.8653,N,-12158.7414,W,1,03,00.5,140.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204437.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204436.58,3648.8653,N,-12158.7415,W,1,03,00.5,142.5,M,-99.9,M,,*40 : TerrainNav update at nav time = 1181.999027 : TerrainNav update at dvl time = 1181.999027 : _navData-> (x,y) = (4074772.20, 591063.10) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204438.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1182.00 : 82.68 : Estimated East Bias at time = 1182.00 : 0.95 : Estimated Depth Bias at time = 1182.00 : -0.11 : Estimated northing and easting = 4074854.88 : 591064.05 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 82.60 dEasting = 1.54 : NMEA Update: $GPGGA,204437.58,3648.8654,N,-12158.7425,W,1,03,00.5,142.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204439.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204438.58,3648.8653,N,-12158.7426,W,1,03,00.5,141.5,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204440.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204439.58,3648.8652,N,-12158.7427,W,1,03,00.5,141.4,M,-99.9,M,,*4d : TerrainNav update at nav time = 1184.998822 : TerrainNav update at dvl time = 1184.998822 : _navData-> (x,y) = (4074771.92, 591062.11) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204441.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1185.00 : 82.78 : Estimated East Bias at time = 1185.00 : 1.31 : Estimated Depth Bias at time = 1185.00 : -0.11 : Estimated northing and easting = 4074854.70 : 591063.42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 82.80 dEasting = 1.35 : NMEA Update: $GPGGA,204440.58,3648.8652,N,-12158.7428,W,1,03,00.5,141.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204442.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204441.58,3648.8652,N,-12158.7430,W,1,03,00.5,142.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204443.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204442.58,3648.8652,N,-12158.7433,W,1,03,00.5,142.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1187.998616 : TerrainNav update at dvl time = 1187.998616 : _navData-> (x,y) = (4074771.81, 591060.98) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204444.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1188.00 : 80.31 : Estimated East Bias at time = 1188.00 : 4.68 : Estimated Depth Bias at time = 1188.00 : -0.11 : Estimated northing and easting = 4074852.12 : 591065.66 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 80.29 dEasting = 4.66 : NMEA Update: $GPGGA,204443.58,3648.8652,N,-12158.7435,W,1,03,00.5,143.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204445.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204444.58,3648.8652,N,-12158.7437,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204446.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204445.58,3648.8651,N,-12158.7441,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1190.998411 : TerrainNav update at dvl time = 1190.998411 : _navData-> (x,y) = (4074771.49, 591060.10) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204447.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1191.00 : 78.00 : Estimated East Bias at time = 1191.00 : 8.25 : Estimated Depth Bias at time = 1191.00 : -0.11 : Estimated northing and easting = 4074849.48 : 591068.35 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 78.05 dEasting = 8.29 : NMEA Update: $GPGGA,204446.58,3648.8650,N,-12158.7442,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,204448.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204447.58,3648.8649,N,-12158.7442,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,204449.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204448.57,3648.8649,N,-12158.7443,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1193.998205 : TerrainNav update at dvl time = 1193.998205 : _navData-> (x,y) = (4074771.16, 591059.66) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204450.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1194.00 : 75.25 : Estimated East Bias at time = 1194.00 : 10.63 : Estimated Depth Bias at time = 1194.00 : -0.11 : Estimated northing and easting = 4074846.41 : 591070.29 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 75.30 dEasting = 10.74 : NMEA Update: $GPGGA,204449.57,3648.8648,N,-12158.7445,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204451.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204450.57,3648.8647,N,-12158.7447,W,1,03,00.5,145.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204452.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204451.57,3648.8646,N,-12158.7448,W,1,03,00.5,143.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1196.998000 : TerrainNav update at dvl time = 1196.998000 : _navData-> (x,y) = (4074770.68, 591058.94) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204453.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1197.00 : 73.13 : Estimated East Bias at time = 1197.00 : 13.06 : Estimated Depth Bias at time = 1197.00 : -0.11 : Estimated northing and easting = 4074843.80 : 591072.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 73.11 dEasting = 13.14 : NMEA Update: $GPGGA,204452.57,3648.8646,N,-12158.7450,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204454.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204453.57,3648.8645,N,-12158.7451,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,204455.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204454.57,3648.8644,N,-12158.7451,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : TerrainNav update at nav time = 1199.997794 : TerrainNav update at dvl time = 1199.997794 : _navData-> (x,y) = (4074770.16, 591058.75) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204456.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1200.00 : 71.32 : Estimated East Bias at time = 1200.00 : 15.29 : Estimated Depth Bias at time = 1200.00 : -0.11 : Estimated northing and easting = 4074841.48 : 591074.04 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 71.40 dEasting = 15.32 : NMEA Update: $GPGGA,204455.57,3648.8642,N,-12158.7451,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204457.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204456.57,3648.8642,N,-12158.7452,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204458.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204457.57,3648.8642,N,-12158.7454,W,1,03,00.5,132.3,M,-99.9,M,,*4c : TerrainNav update at nav time = 1202.997589 : TerrainNav update at dvl time = 1202.997589 : _navData-> (x,y) = (4074769.90, 591057.99) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204459.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1203.00 : 70.81 : Estimated East Bias at time = 1203.00 : 15.88 : Estimated Depth Bias at time = 1203.00 : -0.11 : Estimated northing and easting = 4074840.71 : 591073.87 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204458.57,3648.8641,N,-12158.7457,W,1,03,00.5,143.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204500.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204459.57,3648.8641,N,-12158.7457,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204501.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204500.57,3648.8639,N,-12158.7459,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : TerrainNav update at nav time = 1205.997384 : TerrainNav update at dvl time = 1205.997384 : _navData-> (x,y) = (4074769.18, 591057.52) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204502.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1206.00 : 71.73 : Estimated East Bias at time = 1206.00 : 15.47 : Estimated Depth Bias at time = 1206.00 : -0.11 : Estimated northing and easting = 4074840.91 : 591072.99 : 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,204501.57,3648.8637,N,-12158.7458,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,204503.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204502.57,3648.8635,N,-12158.7461,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204504.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204503.57,3648.8634,N,-12158.7464,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1208.997178 : TerrainNav update at dvl time = 1208.997178 : _navData-> (x,y) = (4074768.53, 591056.79) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204505.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1209.00 : 72.82 : Estimated East Bias at time = 1209.00 : 15.24 : Estimated Depth Bias at time = 1209.00 : -0.11 : Estimated northing and easting = 4074841.35 : 591072.02 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204504.57,3648.8634,N,-12158.7465,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,204506.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204505.57,3648.8633,N,-12158.7468,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204507.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204506.57,3648.8632,N,-12158.7470,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 : TerrainNav update at nav time = 1211.996973 : TerrainNav update at dvl time = 1211.996973 : _navData-> (x,y) = (4074767.84, 591055.82) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204508.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1212.00 : 75.49 : Estimated East Bias at time = 1212.00 : 13.94 : Estimated Depth Bias at time = 1212.00 : -0.11 : Estimated northing and easting = 4074843.33 : 591069.76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204507.57,3648.8630,N,-12158.7471,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,204509.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204508.57,3648.8627,N,-12158.7472,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,204510.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204509.57,3648.8627,N,-12158.7473,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1214.996767 : TerrainNav update at dvl time = 1214.996767 : _navData-> (x,y) = (4074767.09, 591055.31) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204511.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1215.00 : 77.16 : Estimated East Bias at time = 1215.00 : 12.70 : Estimated Depth Bias at time = 1215.00 : -0.11 : Estimated northing and easting = 4074844.25 : 591068.01 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204510.57,3648.8626,N,-12158.7474,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204512.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204511.57,3648.8626,N,-12158.7475,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,204513.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204512.57,3648.8624,N,-12158.7476,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1217.996562 : TerrainNav update at dvl time = 1217.996562 : _navData-> (x,y) = (4074766.46, 591054.88) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204514.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1218.00 : 79.18 : Estimated East Bias at time = 1218.00 : 11.45 : Estimated Depth Bias at time = 1218.00 : -0.11 : Estimated northing and easting = 4074845.64 : 591066.34 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204513.57,3648.8623,N,-12158.7477,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204515.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204514.57,3648.8622,N,-12158.7477,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204516.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204515.57,3648.8621,N,-12158.7477,W,1,03,00.5,146.2,M,-99.9,M,,*4d : TerrainNav update at nav time = 1220.996356 : TerrainNav update at dvl time = 1220.996356 : _navData-> (x,y) = (4074765.92, 591054.94) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204517.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1221.00 : 80.91 : Estimated East Bias at time = 1221.00 : 10.12 : Estimated Depth Bias at time = 1221.00 : -0.11 : Estimated northing and easting = 4074846.82 : 591065.06 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204516.57,3648.8620,N,-12158.7477,W,1,03,00.5,145.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204518.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204517.57,3648.8619,N,-12158.7479,W,1,03,00.5,145.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204519.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204518.57,3648.8617,N,-12158.7480,W,1,03,00.5,145.4,M,-99.9,M,,*48 : TerrainNav update at nav time = 1223.996150 : TerrainNav update at dvl time = 1223.996150 : _navData-> (x,y) = (4074765.39, 591054.39) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204520.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1224.00 : 82.39 : Estimated East Bias at time = 1224.00 : 9.89 : Estimated Depth Bias at time = 1224.00 : -0.11 : Estimated northing and easting = 4074847.77 : 591064.28 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204519.57,3648.8617,N,-12158.7481,W,1,03,00.5,144.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204521.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204520.57,3648.8616,N,-12158.7481,W,1,03,00.5,147.6,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,204522.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204521.57,3648.8614,N,-12158.7482,W,1,03,00.5,145.6,M,-99.9,M,,*41 : TerrainNav update at nav time = 1226.995945 : TerrainNav update at dvl time = 1226.995945 : _navData-> (x,y) = (4074764.60, 591054.05) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204523.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1227.00 : 84.77 : Estimated East Bias at time = 1227.00 : 8.69 : Estimated Depth Bias at time = 1227.00 : -0.11 : Estimated northing and easting = 4074849.38 : 591062.74 : 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,204522.57,3648.8612,N,-12158.7483,W,1,03,00.5,146.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204524.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204523.57,3648.8611,N,-12158.7485,W,1,03,00.5,152.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204525.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204524.57,3648.8610,N,-12158.7486,W,1,03,00.5,146.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1229.995739 : TerrainNav update at dvl time = 1229.995739 : _navData-> (x,y) = (4074764.01, 591053.64) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204526.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1230.00 : 84.62 : Estimated East Bias at time = 1230.00 : 8.53 : Estimated Depth Bias at time = 1230.00 : -0.11 : Estimated northing and easting = 4074848.63 : 591062.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204525.57,3648.8610,N,-12158.7485,W,1,03,00.5,146.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204527.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204526.57,3648.8608,N,-12158.7485,W,1,03,00.5,146.4,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,204528.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204527.57,3648.8606,N,-12158.7484,W,1,03,00.5,148.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1232.995534 : TerrainNav update at dvl time = 1232.995534 : _navData-> (x,y) = (4074763.27, 591053.68) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204529.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1233.00 : 84.44 : Estimated East Bias at time = 1233.00 : 7.75 : Estimated Depth Bias at time = 1233.00 : -0.11 : Estimated northing and easting = 4074847.71 : 591061.44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204528.57,3648.8606,N,-12158.7486,W,1,03,00.5,143.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204530.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204529.57,3648.8606,N,-12158.7487,W,1,03,00.5,136.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204531.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204530.57,3648.8605,N,-12158.7488,W,1,03,00.5,138.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1235.995328 : TerrainNav update at dvl time = 1235.995328 : _navData-> (x,y) = (4074762.97, 591053.12) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204532.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1236.00 : 84.06 : Estimated East Bias at time = 1236.00 : 6.67 : Estimated Depth Bias at time = 1236.00 : -0.11 : Estimated northing and easting = 4074847.04 : 591059.78 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204531.57,3648.8604,N,-12158.7489,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204533.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204532.57,3648.8603,N,-12158.7488,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,204534.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204533.57,3648.8602,N,-12158.7485,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1238.995123 : TerrainNav update at dvl time = 1238.995123 : _navData-> (x,y) = (4074762.53, 591053.55) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204535.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1239.00 : 83.32 : Estimated East Bias at time = 1239.00 : 5.25 : Estimated Depth Bias at time = 1239.00 : -0.11 : Estimated northing and easting = 4074845.85 : 591058.80 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204534.57,3648.8602,N,-12158.7487,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204536.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204535.57,3648.8602,N,-12158.7489,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204537.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204536.57,3648.8599,N,-12158.7486,W,1,03,00.5,134.2,M,-99.9,M,,*47 : TerrainNav update at nav time = 1241.994917 : TerrainNav update at dvl time = 1241.994917 : _navData-> (x,y) = (4074761.90, 591053.75) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204538.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1241.99 : 82.85 : Estimated East Bias at time = 1241.99 : 3.54 : Estimated Depth Bias at time = 1241.99 : -0.11 : Estimated northing and easting = 4074844.75 : 591057.28 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204537.57,3648.8598,N,-12158.7484,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204539.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204538.57,3648.8599,N,-12158.7486,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204540.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204539.57,3648.8599,N,-12158.7487,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : TerrainNav update at nav time = 1244.994712 : TerrainNav update at dvl time = 1244.994712 : _navData-> (x,y) = (4074762.01, 591053.28) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204541.00,3648.89321,N,12158.76580,W,1,07,1.2,0.15,M,-33.02,M,,*5C : Estimated North Bias at time = 1244.99 : 81.93 : Estimated East Bias at time = 1244.99 : 3.56 : Estimated Depth Bias at time = 1244.99 : -0.11 : Estimated northing and easting = 4074843.94 : 591056.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204540.57,3648.8932,N,-12158.7658,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204542.00,3648.89286,N,12158.76546,W,1,07,1.2,0.93,M,-33.02,M,,*57 : NMEA Update: $GPGGA,204541.57,3648.8928,N,-12158.7654,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204543.00,3648.89277,N,12158.76513,W,1,07,1.2,2.19,M,-33.02,M,,*58 : NMEA Update: $GPGGA,204542.57,3648.8928,N,-12158.7651,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : TerrainNav update at nav time = 1247.994506 : TerrainNav update at dvl time = 1247.994506 : _navData-> (x,y) = (4074822.47, 591028.46) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204544.00,3648.89250,N,12158.76481,W,1,08,1.0,1.41,M,-33.02,M,,*53 : Estimated North Bias at time = 1247.99 : 20.42 : Estimated East Bias at time = 1247.99 : 27.27 : Estimated Depth Bias at time = 1247.99 : -0.11 : Estimated northing and easting = 4074842.89 : 591055.74 : 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,204543.57,3648.8925,N,-12158.7647,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,204545.00,3648.89250,N,12158.76502,W,1,08,1.0,0.69,M,-33.02,M,,*53 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204544.38,3648.8924,N,-12158.7650,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204546.00,3648.89219,N,12158.76554,W,1,09,0.9,-0.33,M,-33.02,M,,*75 : NMEA Update: $GPGGA,204545.38,3648.8922,N,-12158.7656,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1250.994301 : TerrainNav update at dvl time = 1250.994301 : _navData-> (x,y) = (4074821.42, 591027.77) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204547.00,3648.89179,N,12158.76490,W,1,08,1.0,2.53,M,-33.02,M,,*58 : Estimated North Bias at time = 1250.99 : 20.42 : Estimated East Bias at time = 1250.99 : 27.27 : Estimated Depth Bias at time = 1250.99 : -0.11 : Estimated northing and easting = 4074841.84 : 591055.04 : NMEA Update: $GPGGA,204546.38,3648.8918,N,-12158.7649,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204548.00,3648.89149,N,12158.76451,W,1,09,0.9,0.16,M,-33.02,M,,*53 : NMEA Update: $GPGGA,204547.38,3648.8915,N,-12158.7645,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204549.00,3648.89168,N,12158.76470,W,1,09,0.9,2.60,M,-33.02,M,,*51 : NMEA Update: $GPGGA,204548.38,3648.8917,N,-12158.7647,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1253.994096 : TerrainNav update at dvl time = 1253.994096 : _navData-> (x,y) = (4074820.44, 591029.02) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204550.00,3648.89199,N,12158.76493,W,1,07,1.0,0.63,M,-33.02,M,,*5D : Estimated North Bias at time = 1253.99 : 20.42 : Estimated East Bias at time = 1253.99 : 27.27 : Estimated Depth Bias at time = 1253.99 : -0.11 : Estimated northing and easting = 4074840.86 : 591056.29 : NMEA Update: $GPGGA,204549.38,3648.8920,N,-12158.7649,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204551.00,3648.89164,N,12158.76575,W,1,09,0.9,0.76,M,-33.02,M,,*55 : NMEA Update: $GPGGA,204550.38,3648.8916,N,-12158.7658,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204552.00,3648.89153,N,12158.76553,W,1,09,0.9,1.17,M,-33.02,M,,*50 : NMEA Update: $GPGGA,204551.38,3648.8915,N,-12158.7655,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1256.993890 : TerrainNav update at dvl time = 1256.993890 : _navData-> (x,y) = (4074820.15, 591027.77) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204553.00,3648.89151,N,12158.76521,W,1,08,0.9,0.35,M,-33.02,M,,*56 : Estimated North Bias at time = 1256.99 : 20.43 : Estimated East Bias at time = 1256.99 : 27.27 : Estimated Depth Bias at time = 1256.99 : -0.12 : Estimated northing and easting = 4074840.58 : 591055.05 : NMEA Update: $GPGGA,204552.38,3648.8915,N,-12158.7651,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204554.00,3648.89121,N,12158.76529,W,1,08,1.0,1.11,M,-33.02,M,,*51 : NMEA Update: $GPGGA,204553.38,3648.8912,N,-12158.7652,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,204555.00,3648.89129,N,12158.76551,W,1,08,1.0,0.48,M,-33.02,M,,*5A : NMEA Update: $GPGGA,204554.38,3648.8912,N,-12158.7655,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1259.993685 : TerrainNav update at dvl time = 1259.993685 : _navData-> (x,y) = (4074819.79, 591027.78) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204556.00,3648.89101,N,12158.76553,W,1,08,1.0,1.19,M,-33.02,M,,*54 : Estimated North Bias at time = 1259.99 : 20.43 : Estimated East Bias at time = 1259.99 : 27.27 : Estimated Depth Bias at time = 1259.99 : -0.11 : Estimated northing and easting = 4074840.22 : 591055.05 : NMEA Update: $GPGGA,204555.38,3648.8910,N,-12158.7655,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204557.00,3648.89097,N,12158.76526,W,1,08,1.0,1.69,M,-33.02,M,,*5E : NMEA Update: $GPGGA,204556.38,3648.8910,N,-12158.7653,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,204558.00,3648.89067,N,12158.76460,W,1,09,0.9,1.32,M,-33.02,M,,*5A : NMEA Update: $GPGGA,204557.38,3648.8906,N,-12158.7645,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1262.993479 : TerrainNav update at dvl time = 1262.993479 : _navData-> (x,y) = (4074818.59, 591029.34) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204559.00,3648.89063,N,12158.76473,W,1,08,0.9,-0.19,M,-33.02,M,,*79 : Estimated North Bias at time = 1262.99 : 20.43 : Estimated East Bias at time = 1262.99 : 27.27 : Estimated Depth Bias at time = 1262.99 : -0.11 : Estimated northing and easting = 4074839.02 : 591056.61 : NMEA Update: $GPGGA,204558.38,3648.8906,N,-12158.7646,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204600.00,3648.89068,N,12158.76495,W,1,09,0.9,0.06,M,-33.02,M,,*57 : NMEA Update: $GPGGA,204559.38,3648.8907,N,-12158.7650,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204601.00,3648.89039,N,12158.76502,W,1,09,0.9,0.73,M,-33.02,M,,*5F : NMEA Update: $GPGGA,204600.38,3648.8904,N,-12158.7651,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : TerrainNav update at nav time = 1265.993273 : TerrainNav update at dvl time = 1265.993273 : _navData-> (x,y) = (4074818.08, 591028.50) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204602.00,3648.89036,N,12158.76472,W,1,09,0.9,1.55,M,-33.02,M,,*50 : Estimated North Bias at time = 1265.99 : 20.43 : Estimated East Bias at time = 1265.99 : 27.27 : Estimated Depth Bias at time = 1265.99 : -0.11 : Estimated northing and easting = 4074838.51 : 591055.77 : NMEA Update: $GPGGA,204601.38,3648.8903,N,-12158.7647,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204603.00,3648.89015,N,12158.76446,W,1,09,0.9,1.54,M,-33.02,M,,*56 : NMEA Update: $GPGGA,204602.38,3648.8901,N,-12158.7644,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204604.00,3648.89008,N,12158.76502,W,1,09,0.9,0.53,M,-33.02,M,,*5A : NMEA Update: $GPGGA,204603.38,3648.8901,N,-12158.7650,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : TerrainNav update at nav time = 1268.993068 : TerrainNav update at dvl time = 1268.993068 : _navData-> (x,y) = (4074817.53, 591028.54) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204605.00,3648.89005,N,12158.76491,W,1,09,0.9,0.62,M,-33.02,M,,*5F : Estimated North Bias at time = 1268.99 : 20.43 : Estimated East Bias at time = 1268.99 : 27.27 : Estimated Depth Bias at time = 1268.99 : -0.11 : Estimated northing and easting = 4074837.95 : 591055.81 : NMEA Update: $GPGGA,204604.38,3648.8900,N,-12158.7649,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204606.00,3648.89000,N,12158.76487,W,1,09,0.9,0.40,M,-33.02,M,,*5E : NMEA Update: $GPGGA,204605.38,3648.8900,N,-12158.7649,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204607.00,3648.88973,N,12158.76461,W,1,09,0.9,0.46,M,-33.02,M,,*5D : NMEA Update: $GPGGA,204606.38,3648.8897,N,-12158.7646,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1271.992862 : TerrainNav update at dvl time = 1271.992862 : _navData-> (x,y) = (4074816.91, 591029.17) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204608.00,3648.88970,N,12158.76450,W,1,09,0.9,0.95,M,-33.02,M,,*5D : Estimated North Bias at time = 1271.99 : 20.43 : Estimated East Bias at time = 1271.99 : 27.27 : Estimated Depth Bias at time = 1271.99 : -0.11 : Estimated northing and easting = 4074837.33 : 591056.45 : NMEA Update: $GPGGA,204607.38,3648.8897,N,-12158.7645,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204609.00,3648.88960,N,12158.76440,W,1,09,0.9,0.66,M,-33.02,M,,*50 : NMEA Update: $GPGGA,204608.38,3648.8896,N,-12158.7644,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204610.00,3648.88948,N,12158.76446,W,1,09,0.9,0.52,M,-33.02,M,,*53 : NMEA Update: $GPGGA,204609.38,3648.8895,N,-12158.7644,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1275.002656 : TerrainNav update at dvl time = 1275.002656 : _navData-> (x,y) = (4074816.41, 591029.37) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204611.00,3648.88934,N,12158.76432,W,1,09,0.9,0.82,M,-33.02,M,,*57 : NMEA Update: $GPGGA,204610.38,3648.8893,N,-12158.7643,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : Estimated North Bias at time = 1275.00 : 20.43 : Estimated East Bias at time = 1275.00 : 27.27 : Estimated Depth Bias at time = 1275.00 : -0.11 : Estimated northing and easting = 4074836.84 : 591056.64 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204612.00,3648.88920,N,12158.76412,W,1,09,0.9,0.81,M,-33.02,M,,*50 : NMEA Update: $GPGGA,204611.38,3648.8892,N,-12158.7641,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204613.00,3648.88895,N,12158.76373,W,1,09,0.9,1.38,M,-33.02,M,,*5D : NMEA Update: $GPGGA,204612.38,3648.8889,N,-12158.7637,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 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1278.002451 : TerrainNav update at dvl time = 1278.002451 : _navData-> (x,y) = (4074815.46, 591030.52) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204614.00,3648.88896,N,12158.76384,W,1,09,0.9,0.03,M,-33.02,M,,*58 : Estimated North Bias at time = 1278.00 : 20.43 : Estimated East Bias at time = 1278.00 : 27.27 : Estimated Depth Bias at time = 1278.00 : -0.11 : Estimated northing and easting = 4074835.89 : 591057.79 : NMEA Update: $GPGGA,204613.38,3648.8889,N,-12158.7638,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204615.00,3648.88894,N,12158.76385,W,1,09,0.9,-0.45,M,-33.02,M,,*75 : NMEA Update: $GPGGA,204614.38,3648.8889,N,-12158.7638,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,204616.00,3648.88880,N,12158.76420,W,1,09,0.9,-0.18,M,-33.02,M,,*73 : NMEA Update: $GPGGA,204615.38,3648.8888,N,-12158.7642,W,1,03,00.5,149.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1281.002245 : TerrainNav update at dvl time = 1281.002245 : _navData-> (x,y) = (4074815.16, 591029.73) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204617.00,3648.88869,N,12158.76393,W,1,09,0.9,0.78,M,-33.02,M,,*51 : Estimated North Bias at time = 1281.00 : 20.43 : Estimated East Bias at time = 1281.00 : 27.27 : Estimated Depth Bias at time = 1281.00 : -0.11 : Estimated northing and easting = 4074835.59 : 591057.00 : NMEA Update: $GPGGA,204616.38,3648.8887,N,-12158.7640,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204618.00,3648.88838,N,12158.76366,W,1,09,0.9,0.59,M,-33.02,M,,*53 : NMEA Update: $GPGGA,204617.38,3648.8884,N,-12158.7636,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,204619.00,3648.88815,N,12158.76353,W,1,10,0.8,0.15,M,-33.02,M,,*5A : NMEA Update: $GPGGA,204618.38,3648.8881,N,-12158.7635,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 : TerrainNav update at nav time = 1284.002040 : TerrainNav update at dvl time = 1284.002040 : _navData-> (x,y) = (4074813.97, 591030.75) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204620.00,3648.88818,N,12158.76351,W,1,10,0.8,-0.04,M,-33.02,M,,*72 : Estimated North Bias at time = 1284.00 : 20.43 : Estimated East Bias at time = 1284.00 : 27.27 : Estimated Depth Bias at time = 1284.00 : -0.12 : Estimated northing and easting = 4074834.39 : 591058.03 : NMEA Update: $GPGGA,204619.38,3648.8882,N,-12158.7635,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204621.00,3648.88796,N,12158.76360,W,1,10,0.8,0.58,M,-33.02,M,,*5C : NMEA Update: $GPGGA,204620.38,3648.8880,N,-12158.7636,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204622.00,3648.88779,N,12158.76336,W,1,10,0.8,0.98,M,-33.02,M,,*51 : NMEA Update: $GPGGA,204621.38,3648.8878,N,-12158.7634,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainNav update at nav time = 1287.001834 : TerrainNav update at dvl time = 1287.001834 : _navData-> (x,y) = (4074813.29, 591031.13) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204623.00,3648.88757,N,12158.76350,W,1,10,0.8,0.47,M,-33.02,M,,*5E : Estimated North Bias at time = 1287.00 : 20.43 : Estimated East Bias at time = 1287.00 : 27.27 : Estimated Depth Bias at time = 1287.00 : -0.11 : Estimated northing and easting = 4074833.71 : 591058.40 : NMEA Update: $GPGGA,204622.38,3648.8875,N,-12158.7635,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204624.00,3648.88751,N,12158.76376,W,1,10,0.8,0.54,M,-33.02,M,,*59 : NMEA Update: $GPGGA,204623.38,3648.8875,N,-12158.7638,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204625.00,3648.88754,N,12158.76348,W,1,10,0.8,1.48,M,-33.02,M,,*5C : NMEA Update: $GPGGA,204624.38,3648.8875,N,-12158.7635,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : TerrainNav update at nav time = 1290.001629 : TerrainNav update at dvl time = 1290.001629 : _navData-> (x,y) = (4074812.80, 591031.11) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204626.00,3648.88711,N,12158.76283,W,1,10,0.8,1.47,M,-33.02,M,,*57 : Estimated North Bias at time = 1290.00 : 20.43 : Estimated East Bias at time = 1290.00 : 27.27 : Estimated Depth Bias at time = 1290.00 : -0.11 : Estimated northing and easting = 4074833.22 : 591058.38 : NMEA Update: $GPGGA,204625.38,3648.8871,N,-12158.7627,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204627.00,3648.88691,N,12158.76281,W,1,10,0.8,0.55,M,-33.02,M,,*5F : NMEA Update: $GPGGA,204626.38,3648.8869,N,-12158.7628,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204628.00,3648.88694,N,12158.76303,W,1,10,0.8,0.14,M,-33.02,M,,*5B : NMEA Update: $GPGGA,204627.38,3648.8869,N,-12158.7631,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1293.001423 : TerrainNav update at dvl time = 1293.001423 : _navData-> (x,y) = (4074811.82, 591031.50) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204629.00,3648.88669,N,12158.76332,W,1,10,0.8,0.28,M,-33.02,M,,*55 : Estimated North Bias at time = 1293.00 : 20.43 : Estimated East Bias at time = 1293.00 : 27.27 : Estimated Depth Bias at time = 1293.00 : -0.11 : Estimated northing and easting = 4074832.25 : 591058.77 : NMEA Update: $GPGGA,204628.38,3648.8867,N,-12158.7633,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : Supervisor::signalHandler(); caught signal 15 : Supervisor::signalHandler(); Received a SIGTERM or SIGQUIT. DropWeightServer NOT started. : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object SupervisorOutout **** : destroying segment SupervisorOutout : destroying prot sem SupervisorOutout_prot : destroying notify sem SupervisorOutout_notify : Supervisor::shutdown() : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object m3dmgx1Cmd **** : TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2 : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task UsblIFServer - exit() on signal 2 : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 2 : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TerrainAidIFServer - exit() on signal 2 : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2 : TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 2 : CameraDestructor Executing. : **** SharedData destructor for object GpsOutput_ShmemName **** : DropWeight Destructor Executing. : destroying segment ParosciOutput_ShmemName : destroying segment m3dmgx1Cmd : **** SharedData destructor for object EchoSounderOutput_ShmemName **** : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object DvlOutput_ShmemName **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : destroying segment LayeredControlOutput_ShmemName : destroying prot sem m3dmgx1Cmd_prot : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 18 : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TerrainAidOutput **** : NavigationOutput::~NavigationOutput() : SerialDeviceExt::closeSD() - closed : destroying prot sem ParosciOutput_ShmemName_prot : destroying segment GpsOutput_ShmemName : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object CameraOutput **** : **** SharedData destructor for object EchoSounderOutput_ShmemName **** : destroying segment m3dmgx1 : destroying segment ParosciOutput_ShmemName : destroying segment EchoSounderOutput_ShmemName : destroying segment TailConeInput_ShmemName : destroying segment DvlOutput_ShmemName : destroying segment SonardyneOutput_ShmemName : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying notify sem m3dmgx1Cmd_notify : destroying segment SonardyneOutput_ShmemName : failed to unlink queue benthosModemCommand : destroying segment LayeredControlInput_ShmemName : destroying segment GpsOutput_ShmemName : destroying segment DvlOutput_ShmemName : destroying segment navigationOutput : destroying segment TailConeInput_ShmemName : destroying segment TerrainAidOutput : **** SharedData destructor for object navigationOutput **** : destroying notify sem ParosciOutput_ShmemName_notify : destroying prot sem GpsOutput_ShmemName_prot : **** SharedData destructor for object CameraOutput **** : destroying segment dropWeightOutput : destroying prot sem navigationOutput_prot : destroying prot sem m3dmgx1_prot : destroying segment dropWeightOutput : destroying segment CameraOutput : destroying prot sem ParosciOutput_ShmemName_prot : destroying segment EchoSounderOutput_ShmemName : destroying prot sem EchoSounderOutput_ShmemName_prot : destroying prot sem TailConeInput_ShmemName_prot : **** SharedData destructor for object m3dmgx1 **** : destroying prot sem DvlOutput_ShmemName_prot : destroying prot sem SonardyneOutput_ShmemName_prot : destroying notify sem LayeredControlOutput_ShmemName_notify : destroying prot sem SonardyneOutput_ShmemName_prot : **** SharedData destructor for object BenthosModemOutout **** : destroying prot sem LayeredControlInput_ShmemName_prot : destroying prot sem GpsOutput_ShmemName_prot : destroying prot sem DvlOutput_ShmemName_prot : destroying prot sem TailConeInput_ShmemName_prot : destroying prot sem TerrainAidOutput_prot : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18 : destroying notify sem GpsOutput_ShmemName_notify : destroying segment navigationOutput : destroying prot sem dropWeightOutput_prot : destroying notify sem navigationOutput_notify : destroying notify sem m3dmgx1_notify : destroying prot sem dropWeightOutput_prot : destroying segment CameraOutput : destroying prot sem CameraOutput_prot : destroying prot sem EchoSounderOutput_ShmemName_prot : destroying notify sem EchoSounderOutput_ShmemName_notify : destroying notify sem TailConeInput_ShmemName_notify : destroying segment m3dmgx1 : destroying notify sem DvlOutput_ShmemName_notify : destroying notify sem SonardyneOutput_ShmemName_notify : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying notify sem SonardyneOutput_ShmemName_notify : destroying segment BenthosModemOutout : destroying notify sem LayeredControlInput_ShmemName_notify : destroying notify sem GpsOutput_ShmemName_notify : destroying notify sem DvlOutput_ShmemName_notify : destroying notify sem TailConeInput_ShmemName_notify : destroying notify sem TerrainAidOutput_notify : destroying prot sem navigationOutput_prot : destroying notify sem dropWeightOutput_notify : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : **** SharedData destructor for object m3dmgx1Cmd **** : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18 : destroying notify sem dropWeightOutput_notify : destroying prot sem CameraOutput_prot : destroying notify sem CameraOutput_notify : destroying notify sem EchoSounderOutput_ShmemName_notify : destroying segment LayeredControlInput_ShmemName : **** SharedData destructor for object TailConeOutput_ShmemName **** : destroying prot sem m3dmgx1_prot : SerialDeviceExt::closeSD() - closed : destroying prot sem BenthosModemOutout_prot : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : destroying segment m3dmgx1Cmd : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 18 : destroying notify sem CameraOutput_notify : destroying prot sem LayeredControlInput_ShmemName_prot : failed to unlink queue EchoSounderCommand : destroying segment TailConeOutput_ShmemName : destroying notify sem m3dmgx1_notify : destroying notify sem BenthosModemOutout_notify : destroying segment LayeredControlOutput_ShmemName : destroying segment TailConeOutput_ShmemName : TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 18 : destroying prot sem m3dmgx1Cmd_prot : destroying notify sem LayeredControlInput_ShmemName_notify : destroying prot sem TailConeOutput_ShmemName_prot : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 18 : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying prot sem TailConeOutput_ShmemName_prot //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00044594. : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : destroying notify sem TailConeOutput_ShmemName_notify : destroying notify sem TailConeOutput_ShmemName_notify : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 18 : TerrainAidDestructor Executing. : **** SharedData destructor for object TerrainAidOutput **** : destroying segment TerrainAidOutput : destroying prot sem TerrainAidOutput_prot : destroying notify sem TerrainAidOutput_notify : SerialDevice: done... : Dvl::~Dvl: Destructor Finished. //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002468F.