Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervis: Initializing worksiteServer or::crea: WorkSite::WorkSite -- Adding attributes teT: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv_autonomy/auv/altex/onboard/config/dorado389/workSite.cfg ask() - vehicleConfigurationServer Supervisor::createTask() - externalCommsServer S: Using default vehicle config file "/home/dorado1/auv_autonomy/auv/altex/onboard/config/dorado389/vehicle.cfg" upervisor::createTask() - navigationServer Supervisor::createTask() - layeredControlServer Supervisor::createTask() - dynamicControlServer : layeredControlServer - creatinging Dyno : WorkSite::WorkSite -- Finished loading parameters : WorkSite::WorkSite -- Starting Depth is 0.000000 meters : 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 : 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 : 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 : 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 : 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 : WorkSite server: 0x230e0 : DynoLayeredControlServer ctor : DynoLayeredControlServer spawnAuxTasks : New Navigation component constructor : layeredControl - instantiating DynoLayeredControl Supervisor::createTask() - newTailConeServer Supervisor::createTask() - m3dmgx1Server S: SerialDevice: done... u: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts perv: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts isor: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts ::cr: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts eate: SerialDevice: done... Task(: SerialDevice: done... ) - gpsServer Su: Preparing to fork perv: I'm the child...forking isor::createTask(: SerialDevice: done... ) - parosciServe: SerialDevice: done... r Supervisor::createTask() - seabi: SerialDevice: done... rdServer Supervisor::createTask() - seab: seabirdDriver RUNNING... irdServer Supervisor::createTask() : SerialDevice: done... - isusSe: seabirdDriver RUNNING... rver Supervisor::createT: Navigation - Using only the Dvl to compute altitude. a: ahrs if is Ahrs sk() - bluefinBattDriver : Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv_autonomy/auv/altex/onboard/config/dorado389/ctdDriver.cfg Supervisor:: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() :createTask() - hydr: Seabird/ctdDriver2 -- Loading CTD constants from /home/dorado1/auv_autonomy/auv/altex/onboard/config/dorado389/ctdDriver2.cfg oscatServer Supervisor::createTask() - lisst Supervisor::createTask() - biolumeDriver Supervisor::createTask() - dvlServer : SerialDevice: done... Super: BluefinBatt driver - running with 3 batteries visor::crea: Gps: initializing teTask() - fanServer : DynoLayeredControl ctor : SerialDevice: done... : SerialDevice: done... : SerialDevice: done... : DynoLayeredControl initialize Sup: BluefineBatt::init() - 3 batteries on 10 second interval erv: SerialDevice: done... i: Crossbow.cc: In getSerialNumber() sor::createTask() - d: IsusLog.cc -- beginning constructor... r: BluefinBatt.cc - Looking for Parosci server opW: isusLog.cc -- constructor succeeded eightSe: SerialDevice: done... rver : SerialDeviceDriver::initialize() : BluefinBatt::init() - querying for batt ids : Isus:initializing Isus with lamp on... : BluefinBatt::init() - battery echo is !? Superviso: SerialDevice: done... r::createTask(): SerialDeviceDriver::initialize() - g: **** EventTriggers::add() - attaching proxy ulperSe: BiolumeDriver::processRecord() - parse error rve: **** EventTriggers::add() - attaching proxy r S: SerialDevice: done... upe: BiolumeDriver::processRecord() - parse error rvisor::crea: CTD/ctdDriver -- Calibration constants: T_a = 3.681213e-003 T_b = 6.026887e-004 T_c = 1.595292e-005 T_d = 2.081414e-006 T_f0 = 2793.184000 C_a = 3.313488e-017 C_b = 1.567898e+000 C_c = -10.654399 C_d = 7.476148e-006 C_m = 17.800 EPS = -9.570000e-008 SOc = 3.815000e-001 BOc = 0.000000e+000 Voff = -5.409000e-001 TCor = 2.000000e-004 PCor = 1.350000e-004 teT: Seabird/ctdDriver::Seabird() - create interface to depth sensor... ask() : Seabird/ctdDriver -- constructing Log... - clu: CTD/ctdDriver2 -- Calibration constants: T_a = 3.681215e-003 T_b = 6.062011e-004 T_c = 1.689511e-005 T_d = 1.806466e-006 T_f0 = 3021.935000 C_a = 1.577693e-004 C_b = 1.594725e+000 C_c = -10.944307 C_d = -8.549211e-005 C_m = 3.800 EPS = -9.570000e-008 SOc = 0.000000e+000 BOc = 0.000000e+000 Voff = 0.000000e+000 TCor = 0.000000e+000 PCor = 0.000000e+000 st: Seabird/ctdDriver2::Seabird() - create interface to depth sensor... erSer: DropWeight::initialize - Resetting counters. : Seabird/ctdDriver2 -- constructing Log... ve: SerialDevice: done... r: CTDLog.cc -- beginning constructor... : **** EventTriggers::add() - attaching proxy Supervisor:: CTDLog.cc -- constructor succeeded :crea: CTDLog.cc -- beginning constructor... teTa: Seabird/ctdDriver -- constructor succeeded sk: gulperLog:: Before navigation IF. (): CTDLog.cc -- constructor succeeded - : seabirdDriver -- constructor succeeded state: gulperLog:: Constructor completed. Publ: Seabird/ctdDriver2 -- constructor succeeded ish: Seabird/ctdDriver:initializing Seabird... er : seabirdDriver -- constructor succeeded : Seabird/ctdDriver2:initializing Seabird... : PeriodicTask::run() (gulperDriver) - sampleInterval=1000, maxInterval=1000 : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : SerialDeviceDriver::initialize() : Starting DVL Initialization. : SerialDevice: done... : SerialDeviceDriver::initialize() : Crossbow.cc: device->read succeeded : m3dmgx1: Serial Number is 3343 : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : StatePublisher -- configuration: PublishPeriod = 500 ms AMC_IP = 134.89.32.39 AMC_PORT = 8002 ClusterName = plume : StatePublisher: Socket created on fd 10 : StatePublisher: Acquiring interfaces ctd, nav, and tailcone servers : Cluster - main class created. : cluster - loading configuration. : Cluster - loading cluster.cfg : cluster:hs2cal parsing /home/dorado1/auv_autonomy/auv/altex/onboard/config/dorado389/hs2Calibration.dat : Cluster: connecting to "Hydroscat" : Cluster: connecting to "DepthSensor" : Cluster: classifier plume registered for logging. : cluster - starting the task. : PeriodicTask::run() (cluster) - sampleInterval=500, maxInterval=500 : SerialDevice: done... : PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000 : SerialDevice: done... : 3 Modules found : CR1 [Parameters set to FACTORY defaults] > : PD0 > : BK1 > : TP00:00.33 > : TE00:00:0.00 > : BL,10,010,100 > : BP001 > : CF11010 > : CB611 > : SerialDevice: done... : Dvl::initialize - Baud rate set to 38400. : EX10011 > : EA+04500 > : WP0001 > : WN50 > : Dvl::initialize - The number of cells is 50. : WV210 > : Dvl::initialize - 14 valid commands read in from dvl.cfg. : EC1490 > : > : PD0Header = 7F7FCF04 : Dvl::initialize() - The DVL is initialized. : **** EventTriggers::add() - attaching proxy : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - N,12152.63601,W,1,13,0.7,-2.30,M,-32.59,M,,*74 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 1 : **** EventTriggers::add() - attaching proxy : Hydroscat:non-fatal response to OPEN, continuing... : AshtechGps::processRecord() - $GPGGA,155705.00,3651.33895,N,12152.63599,W,1,13,0.7,-2.85,M,-32.59,M,,*7A : Isus:time set with val 1210607823 -> Mon May 12 15:57:05 2008 : SerialDevice::confirm() - Timed Out : Seabird/ctdDriver::initialize() - confirm() timed out; sleep a bit : Lisst::flushReadRecord() - record so far:  : Isus:comms initialized, warmup countdown begun... : Isus:starting Isus... : SerialDevice::confirm() - Timed Out : Seabird/ctdDriver2::initialize() - confirm() timed out; sleep a bit : Hydroscat:starting Hydroscat... : Hydroscat:started : **** EventTriggers::add() - attaching proxy : Hydroscat::readRecord() ensemble checksum incorrect : **** EventTriggers::add() - attaching proxy : Hydroscat::readRecord() ensemble checksum incorrect : Hydroscat::readRecord() ensemble checksum incorrect : Hydroscat::readRecord() ensemble checksum incorrect : Hydroscat::readRecord() ensemble checksum incorrect : Hydroscat::readRecord() ensemble checksum incorrect : Hydroscat::readRecord() ensemble checksum incorrect : Hydroscat:stopping Hydroscat... : AshtechGps::processRecord() - $GPGGA,155706.00,3651.33907,N,12152.63620,W,1,13,0.7,-3.09,M,-32.59,M,,*77 : Isus:started : Lisst:starting Lisst... : BluefinBatt::init() - battery ids are aa b6 c0 : BluefinBatt::init() - found battery aa : BluefinBatt::init() - found battery b6 : BluefinBatt::init() - found battery c0 : BluefinBatt::init() - battery echo is #aawf : AshtechGps::processRecord() - $GPGGA,155707.00,3651.33926,N,12152.63640,W,1,13,0.7,-3.17,M,-32.59,M,,*7C : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : Hydroscat:starting Hydroscat... : Hydroscat:started : Hydroscat::readRecord() ensemble checksum incorrect : Hydroscat::readRecord() ensemble checksum incorrect : Hydroscat::readRecord() ensemble checksum incorrect : Hydroscat::readRecord() ensemble checksum incorrect : Hydroscat::readRecord() ensemble checksum incorrect : AshtechGps::processRecord() - $GPGGA,155708.00,3651.33942,N,12152.63676,W,1,13,0.7,-3.32,M,-32.59,M,,*73 : Lisst::flushReadRecord() - record so far: : Lisst:started : **** EventTriggers::add() - attaching proxy : Lisst processRecord(): record too short(242) : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,155709.00,3651.33959,N,12152.63705,W,1,13,0.7,-3.14,M,-32.59,M,,*79 : Parosci.cc -- Initial pressure = 1.096267 : AshtechGps::processRecord() - $GPGGA,155710.00,3651.33967,N,12152.63704,W,1,13,0.7,-2.41,M,-32.59,M,,*7C : Parosci.cc -- Parosci initial pressure period = 30.068030 : Parosci.cc -- Parosci initial temp period = 5.797253 : Parosci.cc -- Paroscientific configured. : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,155711.00,3651.33986,N,12152.63693,W,1,13,0.7,-2.31,M,-32.59,M,,*7A : Seabird/ctdDriver: sending configure commands...(27921) : Seabird/ctdDriver2: sending configure commands...(27925) : BluefinBatt::init() - battery watchdog state is $aawf 1 : BluefinBatt::init() - battery echo is #b6wf : AshtechGps::processRecord() - $GPGGA,155712.00,3651.34006,N,12152.63676,W,1,13,0.7,-2.17,M,-32.59,M,,*70 : Seabird/ctdDriver: setting scans... : StatePublisher: Unable to initialize battery interface : Seabird/ctdDriver2: setting scans... : AshtechGps::processRecord() - $GPGGA,155713.00,3651.34018,N,12152.63672,W,1,13,0.7,-2.44,M,-32.59,M,,*7C : AshtechGps::processRecord() - $GPGGA,155714.00,3651.34039,N,12152.63683,W,1,13,0.7,-2.77,M,-32.59,M,,*76 : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : AshtechGps::processRecord() - $GPGGA,155715.00,3651.34048,N,12152.63685,W,1,13,0.7,-2.66,M,-32.59,M,,*77 : AshtechGps::processRecord() - $GPGGA,155716.00,3651.34076,N,12152.63684,W,1,13,0.7,-2.76,M,-32.59,M,,*79 : SerialDevice::confirm() - Timed Out : SerialDevice::confirm() - Timed Out : BluefinBatt::init() - battery watchdog state is $b6wf 1 : BluefinBatt::init() - battery echo is #c0wf : AshtechGps::processRecord() - $GPGGA,155717.00,3651.34077,N,12152.63688,W,1,13,0.7,-2.84,M,-32.59,M,,*78 : AshtechGps::processRecord() - $GPGGA,155718.00,3651.34084,N,12152.63692,W,1,13,0.7,-3.10,M,-32.59,M,,*7C : AshtechGps::processRecord() - $GPGGA,155719.00,3651.34093,N,12152.63720,W,1,13,0.7,-3.22,M,-32.59,M,,*72 : AshtechGps::processRecord() - $GPGGA,155720.00,3651.34122,N,12152.63750,W,1,13,0.7,-3.02,M,-32.59,M,,*76 : SerialDevice::confirm() - Timed Out : Seabird/ctdDriver: setting pump freq... : SerialDevice::confirm() - Timed Out : Seabird/ctdDriver2: setting pump freq... : Seabird/ctdDriver: setting upcast... : Seabird/ctdDriver2: setting upcast... : Seabird/ctdDriver: setting battery type... : AshtechGps::processRecord() - $GPGGA,155721.00,3651.34137,N,12152.63752,W,1,13,0.7,-2.54,M,-32.59,M,,*73 : Seabird/ctdDriver2: setting battery type... : Seabird/ctdDriver: setting external voltages to 6...(27921) : Seabird/ctdDriver2: setting external voltages to 6...(27925) : Seabird/ctdDriver::initialize() - confirming voltage... : BluefinBatt::init() - battery watchdog state is $c0wf 1 : PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000 : Seabird/ctdDriver2::initialize() - confirming voltage... : AshtechGps::processRecord() - $GPGGA,155722.00,3651.34153,N,12152.63740,W,1,13,0.7,-2.49,M,-32.59,M,,*7D : Seabird/ctdDriver::initialize() - confirming voltage... : StatePublisher: Unable to initialize ctd interface : PeriodicTask::run() (statePublisher) - sampleInterval=1000, maxInterval=1000 : Seabird/ctdDriver2::initialize() - confirming voltage... : Seabird/ctdDriver::initialize() - confirming voltage... : Seabird/ctdDriver2::initialize() - confirming voltage... : Seabird/ctdDriver::initialize() - confirming voltage... : AshtechGps::processRecord() - $GPGGA,155723.00,3651.34178,N,12152.63743,W,1,13,0.7,-2.50,M,-32.59,M,,*7E : Seabird/ctdDriver2::initialize() - confirming voltage... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Seabird/ctdDriver::initialize() - confirming voltage... : Seabird/ctdDriver2::initialize() - confirming voltage... : Seabird/ctdDriver::initialize() - confirming voltage... : Seabird/ctdDriver2::initialize() - confirming voltage... : AshtechGps::processRecord() - $GPGGA,155724.00,3651.34188,N,12152.63744,W,1,13,0.7,-2.40,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Navigation: Server for aux sensor "Altimeter" not found : Navigation: Server for aux sensor "Velocimeter" not found : Seabird/ctdDriver::initialize() - disabling switch... : AshtechGps::processRecord() - $GPGGA,155725.00,3651.34205,N,12152.63745,W,1,13,0.7,-2.67,M,-32.59,M,,*73 : Seabird/ctdDriver2::initialize() - disabling switch... : Seabird/ctdDriver: sending DS command... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Seabird/ctdDriver2: sending DS command... : AshtechGps::processRecord() - $GPGGA,155726.00,3651.34225,N,12152.63748,W,1,13,0.7,-2.65,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155727.00,3651.34245,N,12152.63767,W,1,13,0.7,-2.96,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155728.00,3651.34268,N,12152.63783,W,1,13,0.7,-2.70,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155729.00,3651.34277,N,12152.63778,W,1,13,0.7,-2.53,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Seabird/ctdDriver2::initialize() - starting logging... : Seabird/ctdDriver::initialize() - starting logging... : AshtechGps::processRecord() - $GPGGA,155730.00,3651.34276,N,12152.63773,W,1,13,0.7,-2.51,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Ctd/ctdDriver2:initialize() - Logging Started... : Ctd/ctdDriver2:initialize() - ready! : **** EventTriggers::add() - attaching proxy : Ctd/ctdDriver:initialize() - Logging Started... : Ctd/ctdDriver:initialize() - ready! : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,155731.00,3651.34285,N,12152.63782,W,1,13,0.7,-2.66,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155732.00,3651.34312,N,12152.63782,W,1,13,0.7,-2.54,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155733.00,3651.34333,N,12152.63789,W,1,13,0.7,-2.83,M,-32.59,M,,*7A : BluefinBatt Reply: $aaq0 d- 33.09 0.96 14.55 4.14 4.16 0 24998.19 01:28:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155734.00,3651.34353,N,12152.63812,W,1,13,0.7,-3.04,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Navigation: Server for aux sensor "Usbl" not found : Navigation: The utm zone is 10 : Navigation: The lat/long in workSite.cfg, 36.850000, -121.870000 : Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4078828.42, 600741.96 : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,155735.00,3651.34366,N,12152.63826,W,1,13,0.7,-2.81,M,-32.59,M,,*74 : LayeredControl::execute() -- (t = 0.000000) Behavior setpoint:0 has changed to state Active : LayeredControl - setpoint BehaviorStarted:0 msg to VcsServer : LayeredControl::execute() -- (t = 0.000000) Behavior depthEnvelope:-1 has changed to state Active : LayeredControl - depthEnvelope BehaviorStarted:-1 msg to VcsServer : LayeredControl::execute() -- (t = 0.009999) Behavior missionTimer:-1 has changed to state Active : LayeredControl - missionTimer BehaviorStarted:-1 msg to VcsServer : **** EventTriggers::add() - attaching proxy : *** Mission started *** : BluefinBatt Reply: $b6q0 d- 33.09 0.03 13.96 4.05 4.16 0 10075.21 01:28:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155736.00,3651.34375,N,12152.63826,W,1,13,0.7,-2.57,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,155737.00,3651.34399,N,12152.63828,W,1,13,0.7,-2.45,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.25 2.15 15.03 4.14 4.16 0 16246.63 01:28:12 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,155738.00,3651.34419,N,12152.63836,W,1,13,0.7,-2.65,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl::execute() -- (t = 3.199781) Behavior setpoint:0 has changed to state Finished : LayeredControl - sending BehaviorFinished:0 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : batts online 3, min cell voltage 4.050000, mean min cell voltage 4.110000 : AshtechGps::processRecord() - $GPGGA,155739.00,3651.34430,N,12152.63834,W,1,13,0.7,-2.43,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155740.00,3651.34447,N,12152.63836,W,1,13,0.7,-2.52,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,155741.00,3651.34460,N,12152.63826,W,1,13,0.7,-2.34,M,-32.59,M,,*78 : Isus:20 seconds of warmup remaining... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,155742.00,3651.34473,N,12152.63810,W,1,13,0.7,-2.48,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion setpoint after pos 2 : DynoLayeredControl::insert - stack now contains 4 behaviors : LayeredControl::execute() -- (t = 7.929457) Behavior setpoint:5055 has changed to state Active : LayeredControl - setpoint BehaviorStarted:5055 msg to VcsServer : BluefinBatt Reply: $aaq0 d- 33.13 0.96 14.55 4.14 4.16 0 24998.06 01:28:18 m : AshtechGps::processRecord() - $GPGGA,155743.00,3651.34487,N,12152.63827,W,1,13,0.7,-3.15,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155744.00,3651.34506,N,12152.63876,W,1,13,0.7,-3.47,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155745.00,3651.34529,N,12152.63903,W,1,13,0.7,-2.86,M,-32.59,M,,*7F : BluefinBatt Reply: $b6q0 d- 33.09 0.03 13.96 4.04 4.16 0 10075.20 01:28:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155746.00,3651.34538,N,12152.63896,W,1,13,0.7,-2.36,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155747.00,3651.34559,N,12152.63886,W,1,13,0.7,-2.19,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.25 2.66 15.03 4.14 4.16 0 16246.50 01:28:22 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155748.00,3651.34573,N,12152.63872,W,1,13,0.7,-2.27,M,-32.59,M,,*71 : LayeredControl::execute() -- (t = 12.999110) Behavior setpoint:5055 has changed to state Finished : LayeredControl - sending BehaviorFinished:5055 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.040000, mean min cell voltage 4.106667 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : DynoLayeredControlServer insertBehaves : AshtechGps::processRecord() - $GPGGA,155749.00,3651.34593,N,12152.63882,W,1,13,0.7,-2.53,M,-32.59,M,,*72 : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion descend after pos 2 : DynoLayeredControl::insert - stack now contains 5 behaviors : LayeredControl::execute() -- (t = 14.159030) Behavior descend:5014 has changed to state Active : LayeredControl - descend BehaviorStarted:5014 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155750.00,3651.34601,N,12152.63915,W,1,13,0.7,-2.90,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155751.00,3651.34619,N,12152.63947,W,1,13,0.7,-2.72,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155752.00,3651.34644,N,12152.63986,W,1,13,0.7,-2.74,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155753.00,3651.34656,N,12152.64019,W,1,13,0.7,-2.49,M,-32.59,M,,*75 : BluefinBatt Reply: $aaq0 d- 33.01 3.19 14.55 4.14 4.16 0 24997.90 01:28:28 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155754.00,3651.34660,N,12152.64047,W,1,13,0.7,-2.58,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155755.00,3651.34666,N,12152.64088,W,1,13,0.7,-2.93,M,-32.59,M,,*7F : BluefinBatt Reply: $b6q0 d- 33.01 0.97 13.86 4.04 4.16 0 10075.12 01:28:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155756.00,3651.34678,N,12152.64131,W,1,13,0.7,-2.88,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155757.00,3651.34699,N,12152.64201,W,1,13,0.7,-2.95,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 33.21 3.59 15.03 4.14 4.16 0 16246.11 01:28:32 m : AshtechGps::processRecord() - $GPGGA,155758.00,3651.34694,N,12152.64242,W,1,13,0.7,-2.58,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.040000, mean min cell voltage 4.106667 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155759.00,3651.34699,N,12152.64261,W,1,13,0.7,-2.16,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155800.00,3651.34699,N,12152.64291,W,1,13,0.7,-2.53,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155801.00,3651.34692,N,12152.64343,W,1,13,0.7,-3.04,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155802.00,3651.34687,N,12152.64426,W,1,13,0.7,-3.27,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155803.00,3651.34683,N,12152.64493,W,1,13,0.7,-2.83,M,-32.59,M,,*77 : BluefinBatt Reply: $aaq0 d- 32.98 3.52 14.55 4.14 4.16 0 24997.54 01:28:38 m : **** EventTriggers::add() - attaching proxy : Isus::Buffer full! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155804.00,3651.34679,N,12152.64553,W,1,13,0.7,-2.59,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : Isus::select() timeout : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,155805.00,3651.34662,N,12152.64574,W,1,13,0.7,-2.31,M,-32.59,M,,*7F : BluefinBatt Reply: $b6q0 d- 32.97 1.33 13.86 4.03 4.15 0 10074.99 01:28:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155806.00,3651.34652,N,12152.64616,W,1,13,0.7,-2.65,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155807.00,3651.34625,N,12152.64664,W,1,13,0.7,-3.01,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.17 3.80 15.03 4.12 4.14 0 16245.84 01:28:42 m : AshtechGps::processRecord() - $GPGGA,155808.00,3651.34601,N,12152.64711,W,1,13,0.7,-2.87,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.096667 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155809.00,3651.34574,N,12152.64749,W,1,13,0.7,-3.00,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155810.00,3651.34543,N,12152.64813,W,1,13,0.7,-3.23,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155811.00,3651.34514,N,12152.64873,W,1,13,0.7,-2.99,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155812.00,3651.34481,N,12152.64925,W,1,13,0.7,-2.93,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155813.00,3651.34450,N,12152.64950,W,1,13,0.7,-2.39,M,-32.59,M,,*79 : BluefinBatt Reply: $aaq0 d- 33.01 3.44 14.55 4.13 4.15 0 24997.25 01:28:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155814.00,3651.34418,N,12152.64976,W,1,13,0.7,-2.49,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155815.00,3651.34377,N,12152.65005,W,1,13,0.7,-2.74,M,-32.59,M,,*7C : BluefinBatt Reply: $b6q0 d- 33.01 0.83 13.96 4.03 4.15 0 10074.91 01:28:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155816.00,3651.34335,N,12152.65015,W,1,13,0.7,-2.74,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155817.00,3651.34299,N,12152.65028,W,1,13,0.7,-2.84,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.17 3.70 15.03 4.12 4.14 0 16245.47 01:28:52 m : AshtechGps::processRecord() - $GPGGA,155818.00,3651.34264,N,12152.65035,W,1,13,0.7,-2.87,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : Isus: processRecord() - bad nitrate data: +1 +0 Entering Scan Loop, press S to break. : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.093333 : AshtechGps::processRecord() - $GPGGA,155819.00,3651.34225,N,12152.65039,W,1,13,0.7,-2.80,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155820.00,3651.34186,N,12152.65055,W,1,13,0.7,-3.24,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155821.00,3651.34149,N,12152.65063,W,1,13,0.7,-2.84,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,155822.00,3651.34125,N,12152.65029,W,1,13,0.7,-2.46,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155823.00,3651.34120,N,12152.65008,W,1,12,0.8,-2.10,M,-32.59,M,,*78 : BluefinBatt Reply: $aaq0 d- 32.98 3.56 14.55 4.13 4.15 0 24996.91 01:28:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155824.00,3651.34090,N,12152.64937,W,1,12,0.8,-2.70,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Seabird/ctdDriver2: error reading voltages : Seabird/ctdDriver2: error reading voltages : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,155825.00,,,,,0,01,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Seabird/ctdDriver2: error reading voltages : Seabird/ctdDriver2: error reading voltages : BluefinBatt Reply: $b6q0 d- 32.97 1.77 13.86 4.03 4.14 0 10074.78 01:29:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : Seabird/ctdDriver2: error reading voltages : Seabird/ctdDriver2: error reading voltages : AshtechGps::processRecord() - $GPGGA,155826.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155827.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 4.38 15.03 4.12 4.14 0 16245.19 01:29:02 m : AshtechGps::processRecord() - $GPGGA,155828.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.093333 : AshtechGps::processRecord() - $GPGGA,155829.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155830.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155831.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155832.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155833.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.98 4.34 14.55 4.12 4.14 0 24996.59 01:29:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155834.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155835.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.97 1.66 13.96 4.03 4.14 0 10074.59 01:29:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155836.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155837.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 4.60 15.03 4.12 4.14 0 16244.68 01:29:12 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155838.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : AshtechGps::processRecord() - $GPGGA,155839.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155840.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155841.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155842.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155843.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.98 3.89 14.55 4.12 4.14 0 24996.16 01:29:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155844.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155845.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.97 1.70 13.96 4.03 4.14 0 10074.41 01:29:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155846.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155847.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 4.24 15.03 4.12 4.14 0 16244.33 01:29:22 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=2.61 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155848.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : Descend::execute() - Descend terminating on depth 10.016751 > 10.000000 at time 73.394972 : LayeredControl::execute() -- (t = 73.394972) Behavior descend:5014 has changed to state Finished : LayeredControl - sending BehaviorFinished:5014 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : AshtechGps::processRecord() - $GPGGA,155849.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155850.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynoLayeredControlServer insertBehaves : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion waypoint_yoyo after pos 2 : DynoLayeredControl::insert - stack now contains 6 behaviors : Waypoint Initialization: Begin waypoint control at t= 75.33 (wplog) The current location (N,E) = 4079438.6 , 600081.9 (wplog) The next waypoint = 4078803.0 , 600466.0 (wplog) The bearing to the next w.p. is 148.9 Degrees. : LayeredControl::execute() -- (t = 75.334839) Behavior waypoint_yoyo:7738 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:7738 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,155851.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155852.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155853.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.98 3.89 14.64 4.12 4.14 0 24995.88 01:29:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155854.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155855.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.97 1.77 13.96 4.03 4.14 0 10074.29 01:29:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155856.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155857.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 4.31 15.13 4.12 4.14 0 16243.87 01:29:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155858.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155859.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155900.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155901.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155902.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155903.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.98 3.56 14.64 4.12 4.14 0 24995.42 01:29:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155904.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155905.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.97 1.51 13.96 4.03 4.14 0 10074.13 01:29:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155906.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155907.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 33.13 3.98 15.13 4.12 4.14 0 16243.58 01:29:42 m : AshtechGps::processRecord() - $GPGGA,155908.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155909.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155910.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155911.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155912.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155913.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 33.01 3.22 14.64 4.12 4.14 0 24995.17 01:29:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155914.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155915.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.97 1.26 13.96 4.03 4.14 0 10074.03 01:29:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155916.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155917.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 4.38 15.13 4.12 4.14 0 16243.15 01:29:52 m : AshtechGps::processRecord() - $GPGGA,155918.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155919.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155920.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155921.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155922.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155923.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.98 3.41 14.64 4.12 4.14 0 24994.79 01:29:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155924.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155925.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.97 1.30 13.96 4.03 4.14 0 10073.87 01:30:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155926.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155927.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.05 5.06 15.13 4.12 4.14 0 16242.86 01:30:02 m : AshtechGps::processRecord() - $GPGGA,155928.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : AshtechGps::processRecord() - $GPGGA,155929.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155930.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155931.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155932.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155933.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.98 3.26 14.55 4.12 4.14 0 24994.54 01:30:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155934.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155935.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.97 1.30 13.86 4.03 4.14 0 10073.76 01:30:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155936.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155937.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 4.13 15.13 4.12 4.14 0 16242.42 01:30:12 m : AshtechGps::processRecord() - $GPGGA,155938.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : AshtechGps::processRecord() - $GPGGA,155939.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155940.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155941.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155942.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155943.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.98 3.26 14.64 4.12 4.14 0 24994.18 01:30:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155944.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155945.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.97 1.37 13.96 4.03 4.14 0 10073.57 01:30:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155946.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155947.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 4.09 15.13 4.12 4.14 0 16242.13 01:30:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155948.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : AshtechGps::processRecord() - $GPGGA,155949.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155950.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155951.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155952.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155953.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.98 3.33 14.55 4.12 4.14 0 24993.93 01:30:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155954.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155955.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.97 1.26 13.96 4.03 4.14 0 10073.46 01:30:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155956.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155957.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 3.84 15.03 4.12 4.14 0 16241.68 01:30:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155958.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : AshtechGps::processRecord() - $GPGGA,155959.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160000.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160001.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160002.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160003.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.98 3.56 14.64 4.12 4.14 0 24993.57 01:30:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160004.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160005.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.97 1.33 13.96 4.03 4.14 0 10073.26 01:30:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160006.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160007.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 4.06 15.03 4.12 4.14 0 16241.39 01:30:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160008.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160009.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160010.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160011.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160012.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160013.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 3.37 14.55 4.12 4.14 0 24993.33 01:30:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160014.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160015.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.97 1.30 13.86 4.03 4.14 0 10073.15 01:30:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160016.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160017.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 33.13 4.02 15.03 4.12 4.14 0 16240.95 01:30:52 m : AshtechGps::processRecord() - $GPGGA,160018.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160019.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160020.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160021.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160022.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160023.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.98 3.30 14.55 4.12 4.14 0 24992.96 01:30:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160024.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160025.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.97 1.30 13.96 4.03 4.14 0 10072.98 01:31:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160026.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160027.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 4.06 15.03 4.12 4.14 0 16240.64 01:31:02 m : AshtechGps::processRecord() - $GPGGA,160028.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160029.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160030.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160031.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160032.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160033.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.98 4.41 14.55 4.12 4.14 0 24992.72 01:31:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160034.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160035.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.97 1.30 13.86 4.03 4.14 0 10072.88 01:31:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160036.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160037.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 3.59 15.03 4.12 4.14 0 16240.23 01:31:12 m : AshtechGps::processRecord() - $GPGGA,160038.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : AshtechGps::processRecord() - $GPGGA,160039.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160040.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160041.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160042.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160043.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.98 3.15 14.55 4.12 4.14 0 24992.37 01:31:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160044.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160045.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.97 1.30 13.86 4.03 4.14 0 10072.72 01:31:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160046.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160047.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 4.06 15.03 4.12 4.14 0 16239.96 01:31:22 m : AshtechGps::processRecord() - $GPGGA,160048.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : AshtechGps::processRecord() - $GPGGA,160049.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160050.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160051.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160052.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160053.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.98 3.30 14.55 4.12 4.14 0 24992.13 01:31:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160054.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160055.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.97 1.33 13.96 4.03 4.14 0 10072.62 01:31:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160056.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160057.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 4.09 15.03 4.12 4.14 0 16239.54 01:31:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160058.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : AshtechGps::processRecord() - $GPGGA,160059.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160100.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160101.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160102.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160103.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 3.26 14.55 4.12 4.14 0 24991.76 01:31:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160104.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160105.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.93 1.51 13.86 4.03 4.14 0 10072.47 01:31:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160106.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160107.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 3.91 15.03 4.12 4.14 0 16239.27 01:31:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160108.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : AshtechGps::processRecord() - $GPGGA,160109.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160110.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160111.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160112.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160113.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 3.44 14.55 4.12 4.14 0 24991.52 01:31:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160114.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160115.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.93 1.33 13.96 4.03 4.14 0 10072.35 01:31:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160116.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160117.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 4.06 15.03 4.12 4.14 0 16238.83 01:31:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160118.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160119.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160120.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160121.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160122.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160123.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 3.48 14.55 4.12 4.14 0 24991.16 01:31:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160124.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160125.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.93 1.33 13.96 4.03 4.14 0 10072.18 01:32:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160126.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160127.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 33.13 4.96 15.03 4.12 4.14 0 16238.55 01:32:02 m : AshtechGps::processRecord() - $GPGGA,160128.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160129.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160130.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160131.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160132.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160133.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 3.41 14.55 4.12 4.14 0 24990.92 01:32:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160134.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160135.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.93 1.41 13.86 4.03 4.14 0 10072.03 01:32:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160136.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160137.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 4.06 15.03 4.12 4.14 0 16238.12 01:32:12 m : AshtechGps::processRecord() - $GPGGA,160138.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160139.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160140.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160141.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160142.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160143.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 3.22 14.55 4.12 4.14 0 24990.56 01:32:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160144.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160145.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.93 1.48 13.86 4.03 4.14 0 10071.86 01:32:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160146.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160147.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 3.95 15.03 4.12 4.14 0 16237.85 01:32:22 m : AshtechGps::processRecord() - $GPGGA,160148.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : AshtechGps::processRecord() - $GPGGA,160149.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160150.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160151.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160152.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160153.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.98 3.26 14.55 4.12 4.14 0 24990.32 01:32:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160154.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160155.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.97 1.51 13.96 4.03 4.14 0 10071.75 01:32:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160156.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160157.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 3.98 15.03 4.12 4.14 0 16237.42 01:32:32 m : AshtechGps::processRecord() - $GPGGA,160158.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : AshtechGps::processRecord() - $GPGGA,160159.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160200.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160201.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160202.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160203.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.98 3.22 14.55 4.12 4.14 0 24989.97 01:32:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160204.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160205.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.93 1.37 13.86 4.02 4.14 0 10071.56 01:32:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160206.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160207.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 3.88 15.03 4.11 4.14 0 16237.14 01:32:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160208.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : AshtechGps::processRecord() - $GPGGA,160209.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160210.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160211.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160212.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160213.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 3.30 14.45 4.12 4.14 0 24989.72 01:32:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160214.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160215.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.93 1.30 13.86 4.02 4.14 0 10071.46 01:32:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160216.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160217.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 4.06 15.03 4.11 4.14 0 16236.73 01:32:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160218.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : AshtechGps::processRecord() - $GPGGA,160219.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160220.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160221.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160222.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160223.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.98 3.11 14.55 4.12 4.14 0 24989.32 01:32:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160224.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160225.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.97 1.44 13.86 4.03 4.14 0 10071.30 01:33:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160226.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160227.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 3.88 15.03 4.12 4.14 0 16236.46 01:33:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160228.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160229.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160230.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160231.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160232.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160233.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 3.30 14.55 4.12 4.14 0 24989.08 01:33:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160234.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160235.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.93 1.23 13.86 4.03 4.14 0 10071.18 01:33:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160236.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160237.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 33.13 3.91 15.03 4.12 4.14 0 16236.04 01:33:12 m : AshtechGps::processRecord() - $GPGGA,160238.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160239.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160240.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160241.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160242.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160243.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 3.56 14.55 4.12 4.14 0 24988.73 01:33:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160244.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160245.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.97 1.33 13.86 4.03 4.14 0 10071.01 01:33:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160246.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160247.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 5.28 15.03 4.11 4.14 0 16235.75 01:33:22 m : AshtechGps::processRecord() - $GPGGA,160248.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.086667 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160249.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160250.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160251.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160252.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160253.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 3.30 14.55 4.12 4.14 0 24988.49 01:33:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160254.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160255.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.93 1.26 13.86 4.03 4.14 0 10070.89 01:33:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160256.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160257.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 4.02 15.03 4.11 4.14 0 16235.33 01:33:32 m : AshtechGps::processRecord() - $GPGGA,160258.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.086667 : AshtechGps::processRecord() - $GPGGA,160259.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160300.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160301.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160302.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160303.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 3.30 14.45 4.12 4.14 0 24988.14 01:33:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160304.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160305.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.89 1.66 13.86 4.03 4.14 0 10070.72 01:33:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160306.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160307.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 4.02 15.03 4.11 4.14 0 16235.06 01:33:42 m : AshtechGps::processRecord() - $GPGGA,160308.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.086667 : AshtechGps::processRecord() - $GPGGA,160309.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160310.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160311.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160312.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160313.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 3.15 14.45 4.12 4.14 0 24987.91 01:33:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160314.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160315.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.97 1.37 13.86 4.03 4.14 0 10070.61 01:33:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160316.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160317.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 3.77 15.03 4.11 4.14 0 16234.63 01:33:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160318.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.086667 : AshtechGps::processRecord() - $GPGGA,160319.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160320.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160321.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160322.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160323.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 3.11 14.45 4.12 4.14 0 24987.55 01:33:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160324.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160325.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.93 1.30 13.86 4.03 4.14 0 10070.43 01:34:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160326.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160327.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 3.91 15.03 4.11 4.14 0 16234.31 01:34:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160328.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.086667 : AshtechGps::processRecord() - $GPGGA,160329.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160330.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160331.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160332.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160333.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 3.11 14.35 4.12 4.14 0 24987.32 01:34:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160334.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160335.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.93 1.30 13.86 4.03 4.14 0 10070.31 01:34:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160336.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160337.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 3.98 15.03 4.11 4.14 0 16233.86 01:34:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160338.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.086667 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160339.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160340.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160341.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160342.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160343.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 3.26 14.55 4.12 4.14 0 24986.97 01:34:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160344.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160345.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.93 1.30 13.86 4.02 4.14 0 10070.15 01:34:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160346.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160347.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 33.09 3.80 15.03 4.11 4.14 0 16233.58 01:34:22 m : AshtechGps::processRecord() - $GPGGA,160348.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160349.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160350.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160351.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160352.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160353.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 3.30 14.45 4.12 4.14 0 24986.74 01:34:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160354.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160355.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.89 1.55 13.86 4.02 4.14 0 10070.03 01:34:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160356.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160357.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 4.02 15.03 4.11 4.14 0 16233.15 01:34:32 m : AshtechGps::processRecord() - $GPGGA,160358.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160359.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160400.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160401.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160402.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160403.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 3.07 14.55 4.12 4.14 0 24986.38 01:34:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160404.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160405.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.93 1.48 13.86 4.02 4.14 0 10069.87 01:34:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160406.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160407.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 3.80 15.03 4.11 4.14 0 16232.88 01:34:42 m : AshtechGps::processRecord() - $GPGGA,160408.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : AshtechGps::processRecord() - $GPGGA,160409.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160410.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160411.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160412.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160413.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 3.26 14.55 4.12 4.14 0 24986.14 01:34:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160414.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160415.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.93 1.44 13.86 4.02 4.14 0 10069.75 01:34:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160416.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160417.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 3.84 15.03 4.11 4.14 0 16232.47 01:34:52 m : AshtechGps::processRecord() - $GPGGA,160418.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : AshtechGps::processRecord() - $GPGGA,160419.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160420.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160421.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160422.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160423.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 3.07 14.35 4.12 4.14 0 24985.80 01:34:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160424.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160425.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.86 1.73 13.86 4.03 4.14 0 10069.59 01:35:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160426.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160427.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 3.88 15.03 4.11 4.14 0 16232.18 01:35:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160428.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.086667 : AshtechGps::processRecord() - $GPGGA,160429.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160430.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160431.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160432.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160433.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 3.19 14.45 4.12 4.14 0 24985.57 01:35:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160434.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160435.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.93 1.37 13.86 4.03 4.14 0 10069.48 01:35:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160436.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160437.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 3.91 15.03 4.11 4.14 0 16231.77 01:35:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160438.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.086667 : AshtechGps::processRecord() - $GPGGA,160439.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160440.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160441.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160442.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160443.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 3.82 14.45 4.12 4.14 0 24985.22 01:35:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160444.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160445.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.93 1.37 13.86 4.02 4.14 0 10069.30 01:35:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160446.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160447.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 4.09 15.03 4.11 4.14 0 16231.49 01:35:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160448.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160449.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160450.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160451.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160452.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160453.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 3.33 14.55 4.12 4.14 0 24984.99 01:35:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160454.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160455.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.93 1.37 13.86 4.02 4.14 0 10069.17 01:35:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160456.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160457.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 33.09 4.16 15.03 4.11 4.14 0 16231.02 01:35:32 m : AshtechGps::processRecord() - $GPGGA,160458.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160459.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160500.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160501.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160502.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160503.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 3.19 14.35 4.12 4.14 0 24984.64 01:35:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160504.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160505.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.93 1.37 13.86 4.02 4.14 0 10068.99 01:35:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160506.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160507.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 3.84 15.03 4.11 4.14 0 16230.74 01:35:42 m : AshtechGps::processRecord() - $GPGGA,160508.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160509.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160510.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160511.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160512.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160513.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 3.19 14.35 4.12 4.14 0 24984.41 01:35:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160514.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160515.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.89 1.41 13.76 4.02 4.14 0 10068.88 01:35:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160516.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160517.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 4.02 15.03 4.11 4.14 0 16230.29 01:35:52 m : AshtechGps::processRecord() - $GPGGA,160518.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : AshtechGps::processRecord() - $GPGGA,160519.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160520.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160521.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160522.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160523.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 3.22 14.35 4.12 4.14 0 24984.05 01:35:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160524.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160525.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.93 1.33 13.76 4.02 4.14 0 10068.70 01:36:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160526.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160527.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 3.84 15.03 4.11 4.13 0 16230.01 01:36:02 m : AshtechGps::processRecord() - $GPGGA,160528.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : AshtechGps::processRecord() - $GPGGA,160529.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160530.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160531.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160532.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160533.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 3.22 14.35 4.12 4.14 0 24983.81 01:36:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160534.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160535.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.89 1.30 13.86 4.02 4.14 0 10068.60 01:36:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160536.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160537.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 3.88 15.03 4.11 4.13 0 16229.59 01:36:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160538.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : AshtechGps::processRecord() - $GPGGA,160539.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160540.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160541.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160542.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160543.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 3.11 14.45 4.12 4.14 0 24983.46 01:36:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160544.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160545.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.89 1.33 13.76 4.02 4.14 0 10068.42 01:36:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160546.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160547.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 3.80 15.03 4.11 4.13 0 16229.31 01:36:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160548.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : AshtechGps::processRecord() - $GPGGA,160549.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160550.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160551.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160552.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160553.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 3.11 14.45 4.12 4.14 0 24983.23 01:36:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160554.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160555.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.89 1.33 13.86 4.02 4.14 0 10068.31 01:36:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160556.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160557.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 3.66 15.03 4.11 4.13 0 16228.89 01:36:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160558.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160559.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160600.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160601.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160602.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160603.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 3.44 14.45 4.12 4.14 0 24982.88 01:36:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160604.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160605.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.89 1.37 13.76 4.02 4.14 0 10068.15 01:36:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160606.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160607.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 33.09 3.84 15.03 4.11 4.13 0 16228.61 01:36:42 m : AshtechGps::processRecord() - $GPGGA,160608.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160609.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160610.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160611.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160612.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160613.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 3.07 14.35 4.12 4.14 0 24982.66 01:36:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160614.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160615.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.89 1.23 13.76 4.02 4.14 0 10068.03 01:36:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160616.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160617.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 3.80 15.03 4.11 4.13 0 16228.20 01:36:52 m : AshtechGps::processRecord() - $GPGGA,160618.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160619.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160620.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160621.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160622.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160623.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 3.19 14.35 4.12 4.14 0 24982.31 01:36:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160624.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160625.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.93 1.33 13.76 4.02 4.14 0 10067.87 01:37:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160626.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160627.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 3.91 14.94 4.11 4.13 0 16227.91 01:37:02 m : AshtechGps::processRecord() - $GPGGA,160628.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : AshtechGps::processRecord() - $GPGGA,160629.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160630.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160631.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160632.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160633.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 3.22 14.35 4.12 4.13 0 24982.08 01:37:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160634.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160635.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.89 1.41 13.76 4.02 4.14 0 10067.76 01:37:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160636.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160637.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 3.84 15.03 4.11 4.13 0 16227.49 01:37:12 m : AshtechGps::processRecord() - $GPGGA,160638.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : AshtechGps::processRecord() - $GPGGA,160639.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160640.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160641.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160642.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160643.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 3.15 14.35 4.12 4.13 0 24981.74 01:37:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160644.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160645.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.89 1.33 13.76 4.02 4.14 0 10067.59 01:37:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160646.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160647.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 3.80 14.94 4.11 4.13 0 16227.23 01:37:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160648.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : AshtechGps::processRecord() - $GPGGA,160649.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160650.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160651.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160652.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160653.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 3.30 14.45 4.12 4.14 0 24981.52 01:37:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160654.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160655.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.89 1.26 13.76 4.02 4.14 0 10067.48 01:37:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160656.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160657.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 3.73 15.03 4.11 4.13 0 16226.82 01:37:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160658.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : AshtechGps::processRecord() - $GPGGA,160659.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160700.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160701.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160702.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160703.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 3.11 14.45 4.12 4.14 0 24981.16 01:37:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160704.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160705.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.89 1.48 13.76 4.02 4.14 0 10067.31 01:37:40 m : AshtechGps::processRecord() - $GPGGA,160706.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160707.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 3.95 15.03 4.11 4.13 0 16226.55 01:37:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160708.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160709.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160710.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160711.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160712.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160713.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 3.11 14.45 4.12 4.14 0 24980.93 01:37:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160714.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160715.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.89 2.06 13.76 4.02 4.14 0 10067.20 01:37:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160716.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160717.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 33.09 3.88 14.94 4.11 4.13 0 16226.15 01:37:52 m : AshtechGps::processRecord() - $GPGGA,160718.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160719.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160720.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160721.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160722.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160723.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 3.19 14.35 4.12 4.14 0 24980.57 01:37:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160724.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160725.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.93 1.48 13.67 4.02 4.14 0 10067.04 01:38:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160726.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160727.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 3.73 15.03 4.11 4.13 0 16225.89 01:38:02 m : AshtechGps::processRecord() - $GPGGA,160728.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160729.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160730.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160731.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160732.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160733.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 3.07 14.35 4.12 4.14 0 24980.34 01:38:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160734.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160735.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.89 1.37 13.76 4.02 4.14 0 10066.92 01:38:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160736.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160737.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 3.80 15.03 4.11 4.13 0 16225.48 01:38:12 m : AshtechGps::processRecord() - $GPGGA,160738.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : AshtechGps::processRecord() - $GPGGA,160739.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160740.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160741.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160742.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160743.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 3.30 14.35 4.12 4.14 0 24980.00 01:38:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160744.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160745.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.89 2.06 13.76 4.02 4.14 0 10066.74 01:38:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160746.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160747.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 3.95 15.03 4.11 4.13 0 16225.19 01:38:22 m : AshtechGps::processRecord() - $GPGGA,160748.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : AshtechGps::processRecord() - $GPGGA,160749.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160750.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160751.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160752.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160753.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 3.33 14.35 4.11 4.13 0 24979.76 01:38:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160754.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160755.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.89 1.44 13.76 4.02 4.14 0 10066.62 01:38:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160756.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160757.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.05 3.91 15.03 4.11 4.13 0 16224.74 01:38:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160758.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.080000 : AshtechGps::processRecord() - $GPGGA,160759.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160800.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160801.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160802.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160803.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 3.26 14.35 4.11 4.13 0 24979.39 01:38:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160804.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=2.60 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160805.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Waypoint has set the state to finished. : Waypoint (4078803.0, 600466.0), reached at t = 630.00 (wplog) : Vehicle Position is error is (0.2, 0.2) : LayeredControl::execute() -- (t = 629.996842) Behavior waypoint_yoyo:7738 has changed to state Finished : LayeredControl - sending BehaviorFinished:7738 msg to VcsServer : BluefinBatt Reply: $b6q0 d- 32.89 1.44 13.76 4.02 4.14 0 10066.39 01:38:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : *** Stack empty after processing. Waiting on VCS... : AshtechGps::processRecord() - $GPGGA,160806.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160807.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.05 4.02 15.03 4.11 4.13 0 16224.45 01:38:42 m : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion ascend after pos 2 : DynoLayeredControl::insert - stack now contains 7 behaviors : LayeredControl::execute() -- (t = 632.746654) Behavior ascend:26575 has changed to state Active : LayeredControl - ascend BehaviorStarted:26575 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160808.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.080000 : AshtechGps::processRecord() - $GPGGA,160809.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160810.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160811.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160812.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160813.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 3.41 14.35 4.12 4.13 0 24979.16 01:38:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160814.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160815.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.89 1.30 13.76 4.02 4.14 0 10066.27 01:38:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160816.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160817.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.05 4.67 15.03 4.11 4.13 0 16224.04 01:38:52 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160818.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160819.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160820.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160821.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160822.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160823.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 3.56 14.35 4.12 4.13 0 24978.80 01:38:58 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160824.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160825.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.89 1.23 13.76 4.02 4.14 0 10066.10 01:39:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160826.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160827.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 33.09 3.26 14.94 4.11 4.13 0 16223.76 01:39:02 m : AshtechGps::processRecord() - $GPGGA,160828.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160829.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160830.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160831.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160832.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160833.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 3.26 14.35 4.12 4.14 0 24978.58 01:39:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl::execute() -- (t = 658.594883) Behavior ascend:26575 has changed to state Finished : LayeredControl - sending BehaviorFinished:26575 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : AshtechGps::processRecord() - $GPGGA,160834.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160835.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.89 1.59 13.76 4.02 4.14 0 10065.99 01:39:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion getgps after pos 2 : DynoLayeredControl::insert - stack now contains 8 behaviors : LayeredControl::execute() -- (t = 660.724737) Behavior getgps:34346 has changed to state Active : LayeredControl - getgps BehaviorStarted:34346 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160836.00,3651.00883,N,12152.30016,W,1,09,1.2,-4.37,M,-32.59,M,,*70 : GetGPS::execute() -- Got a new GPS hit: 1 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160837.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 3.37 14.94 4.11 4.13 0 16223.36 01:39:12 m : AshtechGps::processRecord() - $GPGGA,160838.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160839.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160840.00,3651.00927,N,12152.30032,W,1,10,0.9,-6.85,M,-32.59,M,,*71 : GetGPS::execute() -- Got a new GPS hit: 2 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160841.00,3651.00947,N,12152.29828,W,1,11,0.8,-3.38,M,-32.59,M,,*7E : GetGPS::execute() -- Got a new GPS hit: 3 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160842.00,3651.01024,N,12152.29728,W,1,11,0.8,-3.22,M,-32.59,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 4 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160843.00,3651.01082,N,12152.29657,W,1,11,0.8,-3.37,M,-32.59,M,,*74 : BluefinBatt Reply: $aaq0 d- 32.98 1.44 14.35 4.12 4.14 0 24978.28 01:39:18 m : GetGPS::execute() -- Got a new GPS hit: 5 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160844.00,3651.01143,N,12152.29604,W,1,11,0.8,-3.98,M,-32.59,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 6 of 30 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160845.00,3651.01178,N,12152.29494,W,1,11,0.8,-3.19,M,-32.59,M,,*77 : GetGPS::execute() -- Got a new GPS hit: 7 of 30 needed : BluefinBatt Reply: $b6q0 d- 32.97 0.35 13.76 4.03 4.15 0 10065.92 01:39:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160846.00,3651.01231,N,12152.29428,W,1,10,0.9,-3.90,M,-32.59,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 8 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160847.00,3651.01278,N,12152.29414,W,1,11,0.8,-3.85,M,-32.59,M,,*7B : GetGPS::execute() -- Got a new GPS hit: 9 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.17 1.50 14.94 4.12 4.14 0 16223.23 01:39:22 m : AshtechGps::processRecord() - $GPGGA,160848.00,3651.01337,N,12152.29420,W,1,11,0.8,-3.93,M,-32.59,M,,*7E : GetGPS::execute() -- Got a new GPS hit: 10 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : AshtechGps::processRecord() - $GPGGA,160849.00,3651.01374,N,12152.29388,W,1,11,0.8,-3.49,M,-32.59,M,,*7A : GetGPS::execute() -- Got a new GPS hit: 11 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160850.00,3651.01402,N,12152.29338,W,1,11,0.8,-2.90,M,-32.59,M,,*7A : GetGPS::execute() -- Got a new GPS hit: 12 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160851.00,3651.01442,N,12152.29254,W,1,11,0.8,-2.33,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 13 of 30 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160852.00,3651.01467,N,12152.29149,W,1,11,0.8,-2.83,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 14 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160853.00,3651.01503,N,12152.29090,W,1,11,0.8,-3.87,M,-32.59,M,,*7F : BluefinBatt Reply: $aaq0 d- 33.01 1.48 14.25 4.12 4.14 0 24978.19 01:39:28 m : GetGPS::execute() -- Got a new GPS hit: 15 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160854.00,3651.01511,N,12152.29073,W,1,11,0.8,-4.02,M,-32.59,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 16 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160855.00,3651.01550,N,12152.29105,W,1,11,0.8,-4.32,M,-32.59,M,,*7B : GetGPS::execute() -- Got a new GPS hit: 17 of 30 needed : BluefinBatt Reply: $b6q0 d- 32.97 0.32 13.67 4.03 4.15 0 10065.89 01:39:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160856.00,3651.01571,N,12152.29114,W,1,11,0.8,-3.91,M,-32.59,M,,*75 : GetGPS::execute() -- Got a new GPS hit: 18 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160857.00,3651.01599,N,12152.29100,W,1,11,0.8,-3.26,M,-32.59,M,,*7B : GetGPS::execute() -- Got a new GPS hit: 19 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.17 1.43 14.94 4.12 4.14 0 16223.04 01:39:32 m : AshtechGps::processRecord() - $GPGGA,160858.00,3651.01614,N,12152.29055,W,1,12,0.7,-2.54,M,-32.59,M,,*7B : GetGPS::execute() -- Got a new GPS hit: 20 of 30 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,160859.00,3651.01642,N,12152.28993,W,1,12,0.7,-2.00,M,-32.59,M,,*7A : GetGPS::execute() -- Got a new GPS hit: 21 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160900.00,3651.01663,N,12152.28920,W,1,12,0.7,-2.27,M,-32.59,M,,*79 : GetGPS::execute() -- Got a new GPS hit: 22 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160901.00,3651.01691,N,12152.28862,W,1,12,0.7,-2.56,M,-32.59,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 23 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160902.00,3651.01727,N,12152.28829,W,1,12,0.7,-2.94,M,-32.59,M,,*7A : GetGPS::execute() -- Got a new GPS hit: 24 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160903.00,3651.01742,N,12152.28815,W,1,12,0.7,-3.14,M,-32.59,M,,*7E : BluefinBatt Reply: $aaq0 d- 32.90 2.48 14.35 4.12 4.14 0 24978.00 01:39:38 m : GetGPS::execute() -- Got a new GPS hit: 25 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160904.00,3651.01757,N,12152.28802,W,1,12,0.7,-3.08,M,-32.59,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 26 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160905.00,3651.01774,N,12152.28781,W,1,12,0.7,-3.25,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 27 of 30 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.97 0.28 13.76 4.03 4.15 0 10065.85 01:39:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160906.00,3651.01798,N,12152.28781,W,1,12,0.7,-3.38,M,-32.59,M,,*70 : GetGPS::execute() -- Got a new GPS hit: 28 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160907.00,3651.01825,N,12152.28784,W,1,12,0.7,-3.02,M,-32.59,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 29 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.17 1.72 14.94 4.12 4.14 0 16222.90 01:39:42 m : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160908.00,3651.01841,N,12152.28768,W,1,12,0.7,-2.70,M,-32.59,M,,*7F : GetGPS::execute() -- Got a new GPS hit: 30 of 30 needed : LayeredControl::execute() -- (t = 692.992527) Behavior getgps:34346 has changed to state Finished : LayeredControl - sending BehaviorFinished:34346 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : AshtechGps::processRecord() - $GPGGA,160909.00,3651.01861,N,12152.28732,W,1,12,0.7,-2.34,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion setpoint after pos 2 : DynoLayeredControl::insert - stack now contains 9 behaviors : LayeredControl::execute() -- (t = 694.922395) Behavior setpoint:43028 has changed to state Active : LayeredControl - setpoint BehaviorStarted:43028 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,160910.00,3651.01875,N,12152.28687,W,1,12,0.7,-2.44,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160911.00,3651.01872,N,12152.28652,W,1,12,0.7,-2.79,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160912.00,3651.01884,N,12152.28641,W,1,12,0.7,-2.94,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160913.00,3651.01886,N,12152.28632,W,1,12,0.7,-2.69,M,-32.59,M,,*78 : BluefinBatt Reply: $aaq0 d- 32.98 1.66 14.25 4.12 4.14 0 24977.90 01:39:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160914.00,3651.01915,N,12152.28610,W,1,12,0.7,-2.84,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160915.00,3651.01939,N,12152.28578,W,1,12,0.7,-2.96,M,-32.59,M,,*76 : BluefinBatt Reply: $b6q0 d- 32.97 0.39 13.67 4.03 4.15 0 10065.81 01:39:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160916.00,3651.01961,N,12152.28568,W,1,12,0.7,-3.36,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160917.00,3651.01987,N,12152.28583,W,1,12,0.7,-3.32,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 2.15 14.94 4.12 4.14 0 16222.64 01:39:52 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160918.00,3651.01999,N,12152.28585,W,1,12,0.7,-2.78,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : AshtechGps::processRecord() - $GPGGA,160919.00,3651.02005,N,12152.28564,W,1,12,0.7,-2.47,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160920.00,3651.02001,N,12152.28521,W,1,12,0.7,-2.26,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160921.00,3651.02008,N,12152.28478,W,1,12,0.7,-2.67,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160922.00,3651.02024,N,12152.28476,W,1,12,0.7,-3.10,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160923.00,3651.02039,N,12152.28481,W,1,12,0.7,-2.95,M,-32.59,M,,*7D : BluefinBatt Reply: $aaq0 d- 32.98 1.37 14.25 4.12 4.14 0 24977.74 01:39:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160924.00,3651.02064,N,12152.28465,W,1,12,0.7,-2.71,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160925.00,3651.02068,N,12152.28440,W,1,12,0.7,-2.71,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.97 1.01 13.67 4.03 4.15 0 10065.77 01:40:00 m : AshtechGps::processRecord() - $GPGGA,160926.00,3651.02072,N,12152.28423,W,1,12,0.7,-3.09,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160927.00,3651.02082,N,12152.28428,W,1,12,0.7,-3.19,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 1.65 14.94 4.12 4.14 0 16222.51 01:40:02 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160928.00,3651.02100,N,12152.28441,W,1,12,0.7,-3.10,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160929.00,3651.02140,N,12152.28434,W,1,12,0.7,-2.76,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160930.00,3651.02156,N,12152.28416,W,1,12,0.7,-2.66,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160931.00,3651.02172,N,12152.28386,W,1,12,0.7,-2.65,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160932.00,3651.02158,N,12152.28364,W,1,12,0.7,-2.90,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160933.00,3651.02171,N,12152.28358,W,1,12,0.7,-2.89,M,-32.59,M,,*7F : BluefinBatt Reply: $aaq0 d- 33.01 1.66 14.25 4.12 4.14 0 24977.62 01:40:08 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160934.00,3651.02189,N,12152.28355,W,1,12,0.7,-3.26,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160935.00,3651.02211,N,12152.28376,W,1,13,0.7,-3.10,M,-32.59,M,,*70 : BluefinBatt Reply: $b6q0 d- 32.97 0.35 13.67 4.03 4.15 0 10065.74 01:40:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160936.00,3651.02218,N,12152.28389,W,1,13,0.7,-2.79,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160937.00,3651.02251,N,12152.28384,W,1,13,0.7,-2.34,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 33.17 1.50 14.94 4.12 4.14 0 16222.27 01:40:12 m : AshtechGps::processRecord() - $GPGGA,160938.00,3651.02262,N,12152.28361,W,1,13,0.7,-2.15,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160939.00,3651.02263,N,12152.28330,W,1,13,0.7,-2.21,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160940.00,3651.02268,N,12152.28308,W,1,13,0.7,-2.10,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160941.00,3651.02280,N,12152.28286,W,1,13,0.7,-2.51,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160942.00,3651.02288,N,12152.28281,W,1,13,0.7,-2.83,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160943.00,3651.02307,N,12152.28294,W,1,13,0.7,-2.94,M,-32.59,M,,*77 : BluefinBatt Reply: $aaq0 d- 32.98 1.59 14.25 4.12 4.14 0 24977.44 01:40:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160944.00,3651.02324,N,12152.28309,W,1,13,0.7,-2.80,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160945.00,3651.02340,N,12152.28319,W,1,13,0.7,-2.64,M,-32.59,M,,*79 : BluefinBatt Reply: $b6q0 d- 32.97 0.17 13.67 4.03 4.15 0 10065.71 01:40:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160946.00,3651.02342,N,12152.28307,W,1,13,0.7,-2.27,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160947.00,3651.02363,N,12152.28291,W,1,13,0.7,-2.35,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.17 1.65 14.84 4.12 4.14 0 16222.14 01:40:22 m : AshtechGps::processRecord() - $GPGGA,160948.00,3651.02369,N,12152.28278,W,1,13,0.7,-2.11,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160949.00,3651.02410,N,12152.28257,W,1,13,0.7,-2.05,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160950.00,3651.02409,N,12152.28227,W,1,13,0.7,-2.22,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160951.00,3651.02417,N,12152.28210,W,1,13,0.7,-2.37,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160952.00,3651.02414,N,12152.28200,W,1,13,0.7,-2.95,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160953.00,3651.02433,N,12152.28227,W,1,13,0.7,-3.52,M,-32.59,M,,*75 : BluefinBatt Reply: $aaq0 d- 33.01 1.07 14.25 4.13 4.15 0 24977.35 01:40:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160954.00,3651.02449,N,12152.28272,W,1,13,0.7,-2.90,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160955.00,3651.02464,N,12152.28262,W,1,13,0.7,-2.00,M,-32.59,M,,*76 : BluefinBatt Reply: $b6q0 d- 32.97 0.32 13.67 4.03 4.15 0 10065.66 01:40:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160956.00,3651.02481,N,12152.28219,W,1,13,0.7,-1.75,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160957.00,3651.02485,N,12152.28184,W,1,13,0.7,-1.76,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.17 1.94 14.94 4.12 4.14 0 16221.88 01:40:32 m : AshtechGps::processRecord() - $GPGGA,160958.00,3651.02502,N,12152.28169,W,1,13,0.7,-2.10,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.093333 : AshtechGps::processRecord() - $GPGGA,160959.00,3651.02514,N,12152.28167,W,1,13,0.7,-2.51,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161000.00,3651.02539,N,12152.28178,W,1,13,0.7,-2.58,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161001.00,3651.02547,N,12152.28175,W,1,13,0.7,-2.49,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161002.00,3651.02573,N,12152.28179,W,1,13,0.7,-2.41,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161003.00,3651.02581,N,12152.28167,W,1,13,0.7,-2.59,M,-32.59,M,,*7D : BluefinBatt Reply: $aaq0 d- 33.01 1.29 14.35 4.13 4.15 0 24977.20 01:40:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161004.00,3651.02606,N,12152.28179,W,1,13,0.7,-2.81,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161005.00,3651.02605,N,12152.28183,W,1,13,0.7,-2.72,M,-32.59,M,,*77 : BluefinBatt Reply: $b6q0 d- 32.97 0.57 13.67 4.03 4.15 0 10065.62 01:40:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161006.00,3651.02634,N,12152.28188,W,1,13,0.7,-2.51,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161007.00,3651.02633,N,12152.28166,W,1,13,0.7,-2.33,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.17 1.94 14.84 4.12 4.14 0 16221.75 01:40:42 m : AshtechGps::processRecord() - $GPGGA,161008.00,3651.02655,N,12152.28178,W,1,13,0.7,-1.95,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.093333 : AshtechGps::processRecord() - $GPGGA,161009.00,3651.02664,N,12152.28155,W,1,13,0.7,-1.88,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161010.00,3651.02688,N,12152.28112,W,1,13,0.7,-2.65,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161011.00,3651.02712,N,12152.28123,W,1,13,0.7,-3.27,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161012.00,3651.02725,N,12152.28149,W,1,13,0.7,-3.17,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161013.00,3651.02741,N,12152.28165,W,1,13,0.7,-2.88,M,-32.59,M,,*7C : BluefinBatt Reply: $aaq0 d- 33.01 1.18 14.25 4.12 4.14 0 24977.09 01:40:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161014.00,3651.02751,N,12152.28144,W,1,13,0.7,-2.51,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161015.00,3651.02765,N,12152.28134,W,1,13,0.7,-2.69,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.97 0.39 13.67 4.03 4.15 0 10065.57 01:40:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161016.00,3651.02786,N,12152.28154,W,1,13,0.7,-2.74,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161017.00,3651.02793,N,12152.28143,W,1,13,0.7,-2.37,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 1.79 14.84 4.12 4.14 0 16221.56 01:40:52 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161018.00,3651.02825,N,12152.28129,W,1,13,0.7,-1.99,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : AshtechGps::processRecord() - $GPGGA,161019.00,3651.02839,N,12152.28082,W,1,13,0.7,-2.17,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161020.00,3651.02851,N,12152.28081,W,1,13,0.7,-2.51,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161021.00,3651.02859,N,12152.28076,W,1,13,0.7,-3.06,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161022.00,3651.02886,N,12152.28109,W,1,13,0.7,-3.39,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161023.00,3651.02906,N,12152.28142,W,1,13,0.7,-3.09,M,-32.59,M,,*7F : BluefinBatt Reply: $aaq0 d- 33.01 1.70 14.35 4.12 4.14 0 24976.94 01:40:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161024.00,3651.02923,N,12152.28146,W,1,13,0.7,-2.48,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161025.00,3651.02933,N,12152.28126,W,1,13,0.7,-2.19,M,-32.59,M,,*7D : BluefinBatt Reply: $b6q0 d- 32.97 0.21 13.67 4.03 4.15 0 10065.54 01:41:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161026.00,3651.02943,N,12152.28094,W,1,13,0.7,-2.24,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161027.00,3651.02970,N,12152.28107,W,1,13,0.7,-2.59,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.17 1.68 14.84 4.12 4.14 0 16221.44 01:41:02 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161028.00,3651.02986,N,12152.28097,W,1,13,0.7,-2.52,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : AshtechGps::processRecord() - $GPGGA,161029.00,3651.03013,N,12152.28110,W,1,13,0.7,-2.38,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161030.00,3651.03023,N,12152.28085,W,1,13,0.7,-2.33,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161031.00,3651.03049,N,12152.28093,W,1,13,0.7,-2.57,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161032.00,3651.03068,N,12152.28090,W,1,13,0.7,-2.36,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161033.00,3651.03086,N,12152.28087,W,1,13,0.7,-2.50,M,-32.59,M,,*7B : BluefinBatt Reply: $aaq0 d- 33.01 1.51 14.16 4.13 4.15 0 24976.84 01:41:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161034.00,3651.03110,N,12152.28101,W,1,13,0.7,-2.65,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161035.00,3651.03123,N,12152.28105,W,1,13,0.7,-2.70,M,-32.59,M,,*7A : BluefinBatt Reply: $b6q0 d- 32.97 0.43 13.67 4.03 4.15 0 10065.49 01:41:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161036.00,3651.03144,N,12152.28116,W,1,13,0.7,-2.80,M,-32.59,M,,*75 : LayeredControl::execute() -- (t = 780.996498) Behavior setpoint:43028 has changed to state Finished : LayeredControl - sending BehaviorFinished:43028 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161037.00,3651.03157,N,12152.28130,W,1,13,0.7,-2.66,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.17 1.50 14.84 4.12 4.14 0 16221.21 01:41:12 m : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161038.00,3651.03172,N,12152.28127,W,1,13,0.7,-2.23,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.093333 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161039.00,3651.03196,N,12152.28114,W,1,13,0.7,-2.68,M,-32.59,M,,*71 : StatePublisher: Updating state vector : DynoLayeredControlServer insertBehaves : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion setpoint after pos 2 : DynoLayeredControl::insert - stack now contains 10 behaviors : LayeredControl::execute() -- (t = 784.536256) Behavior setpoint:65778 has changed to state Active : LayeredControl - setpoint BehaviorStarted:65778 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,161040.00,3651.03215,N,12152.28138,W,1,13,0.7,-2.65,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161041.00,3651.03228,N,12152.28130,W,1,13,0.7,-2.44,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161042.00,3651.03255,N,12152.28121,W,1,13,0.7,-2.47,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161043.00,3651.03279,N,12152.28118,W,1,13,0.7,-2.62,M,-32.59,M,,*78 : BluefinBatt Reply: $aaq0 d- 33.01 1.11 14.35 4.13 4.15 0 24976.69 01:41:18 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161044.00,3651.03306,N,12152.28126,W,1,13,0.7,-2.46,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : LayeredControl::execute() -- (t = 789.595909) Behavior setpoint:65778 has changed to state Finished : LayeredControl - sending BehaviorFinished:65778 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : AshtechGps::processRecord() - $GPGGA,161045.00,3651.03335,N,12152.28134,W,1,13,0.7,-2.80,M,-32.59,M,,*75 : BluefinBatt Reply: $b6q0 d- 32.89 1.41 13.67 4.03 4.14 0 10065.43 01:41:20 m : DynoLayeredControlServer insertBehaves : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion descend after pos 2 : DynoLayeredControl::insert - stack now contains 11 behaviors : LayeredControl::execute() -- (t = 790.345858) Behavior descend:65736 has changed to state Active : LayeredControl - descend BehaviorStarted:65736 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161046.00,3651.03355,N,12152.28141,W,1,13,0.7,-2.92,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161047.00,3651.03383,N,12152.28152,W,1,13,0.7,-2.47,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 33.13 3.16 14.84 4.11 4.14 0 16221.04 01:41:22 m : AshtechGps::processRecord() - $GPGGA,161048.00,3651.03417,N,12152.28125,W,1,13,0.7,-2.21,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161049.00,3651.03457,N,12152.28108,W,1,13,0.7,-2.67,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161050.00,3651.03493,N,12152.28124,W,1,13,0.7,-2.65,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161051.00,3651.03522,N,12152.28099,W,1,13,0.7,-2.38,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161052.00,3651.03561,N,12152.28105,W,1,13,0.7,-2.54,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161053.00,3651.03605,N,12152.28081,W,1,13,0.7,-2.52,M,-32.59,M,,*74 : BluefinBatt Reply: $aaq0 d- 32.90 3.56 14.25 4.12 4.14 0 24976.48 01:41:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161054.00,3651.03654,N,12152.28094,W,1,13,0.7,-2.57,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161055.00,3651.03714,N,12152.28092,W,1,13,0.7,-2.56,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.89 1.41 13.67 4.03 4.14 0 10065.32 01:41:30 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161056.00,3651.03777,N,12152.28096,W,1,13,0.7,-2.44,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161057.00,3651.03830,N,12152.28109,W,1,13,0.7,-2.44,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 3.44 14.84 4.11 4.14 0 16220.63 01:41:32 m : AshtechGps::processRecord() - $GPGGA,161058.00,3651.03873,N,12152.28112,W,1,13,0.7,-2.05,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.086667 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161059.00,3651.03929,N,12152.28122,W,1,13,0.7,-2.12,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161100.00,3651.03995,N,12152.28129,W,1,13,0.7,-2.32,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161101.00,3651.04050,N,12152.28155,W,1,13,0.7,-2.54,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161102.00,3651.04114,N,12152.28189,W,1,13,0.7,-2.89,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161103.00,3651.04175,N,12152.28244,W,1,13,0.7,-3.13,M,-32.59,M,,*78 : BluefinBatt Reply: $aaq0 d- 32.94 4.04 14.25 4.12 4.14 0 24976.14 01:41:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161104.00,3651.04237,N,12152.28309,W,1,13,0.7,-2.92,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161105.00,3651.04284,N,12152.28354,W,1,13,0.7,-2.24,M,-32.59,M,,*76 : BluefinBatt Reply: $b6q0 d- 32.89 1.26 13.67 4.02 4.14 0 10065.16 01:41:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161106.00,3651.04330,N,12152.28362,W,1,13,0.7,-1.63,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161107.00,3651.04369,N,12152.28386,W,1,13,0.7,-2.23,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 3.30 14.84 4.11 4.13 0 16220.39 01:41:42 m : AshtechGps::processRecord() - $GPGGA,161108.00,3651.04418,N,12152.28435,W,1,13,0.7,-2.73,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : AshtechGps::processRecord() - $GPGGA,161109.00,3651.04452,N,12152.28508,W,1,13,0.7,-3.09,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161110.00,3651.04504,N,12152.28592,W,1,13,0.7,-3.02,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161111.00,3651.04534,N,12152.28698,W,1,13,0.7,-3.17,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161112.00,3651.04564,N,12152.28759,W,1,13,0.7,-2.12,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161113.00,3651.04585,N,12152.28785,W,1,13,0.7,-1.75,M,-32.59,M,,*78 : BluefinBatt Reply: $aaq0 d- 32.90 3.30 14.35 4.12 4.14 0 24975.93 01:41:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161114.00,3651.04606,N,12152.28834,W,1,13,0.7,-2.30,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161115.00,3651.04627,N,12152.28910,W,1,13,0.7,-2.88,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.93 1.15 13.67 4.02 4.14 0 10065.07 01:41:50 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161116.00,3651.04641,N,12152.29006,W,1,13,0.7,-3.02,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161117.00,3651.04659,N,12152.29089,W,1,13,0.7,-2.56,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 3.62 14.84 4.11 4.13 0 16219.97 01:41:52 m : AshtechGps::processRecord() - $GPGGA,161118.00,3651.04667,N,12152.29163,W,1,13,0.7,-2.44,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : AshtechGps::processRecord() - $GPGGA,161119.00,3651.04669,N,12152.29232,W,1,13,0.7,-2.39,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161120.00,3651.04655,N,12152.29285,W,1,13,0.7,-2.14,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161121.00,3651.04653,N,12152.29353,W,1,13,0.7,-2.38,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161122.00,3651.04641,N,12152.29404,W,1,13,0.7,-2.46,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161123.00,3651.04640,N,12152.29489,W,1,13,0.7,-3.12,M,-32.59,M,,*7C : BluefinBatt Reply: $aaq0 d- 32.94 2.85 14.25 4.12 4.14 0 24975.59 01:41:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161124.00,3651.04616,N,12152.29565,W,1,13,0.7,-3.09,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161125.00,3651.04603,N,12152.29670,W,1,13,0.7,-2.75,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.89 1.37 13.67 4.02 4.14 0 10064.91 01:42:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161126.00,3651.04569,N,12152.29703,W,1,13,0.7,-2.22,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161127.00,3651.04539,N,12152.29717,W,1,13,0.7,-1.78,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 3.41 14.84 4.11 4.13 0 16219.72 01:42:02 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161128.00,3651.04500,N,12152.29730,W,1,13,0.7,-2.15,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : AshtechGps::processRecord() - $GPGGA,161129.00,3651.04467,N,12152.29776,W,1,13,0.7,-2.85,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161130.00,3651.04439,N,12152.29826,W,1,13,0.7,-2.56,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161131.00,3651.04399,N,12152.29848,W,1,13,0.7,-2.32,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161132.00,3651.04358,N,12152.29891,W,1,13,0.7,-2.52,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161133.00,3651.04308,N,12152.29872,W,1,13,0.7,-2.09,M,-32.59,M,,*77 : BluefinBatt Reply: $aaq0 d- 32.90 2.82 14.35 4.12 4.14 0 24975.36 01:42:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161134.00,3651.04262,N,12152.29875,W,1,13,0.7,-2.26,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161135.00,3651.04224,N,12152.29886,W,1,13,0.7,-2.70,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.86 1.88 13.67 4.02 4.14 0 10064.82 01:42:10 m : AshtechGps::processRecord() - $GPGGA,161136.00,3651.04190,N,12152.29922,W,1,13,0.7,-2.91,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161137.00,3651.04145,N,12152.29959,W,1,13,0.7,-2.80,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.05 3.95 14.84 4.11 4.13 0 16219.36 01:42:12 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161138.00,3651.04101,N,12152.29956,W,1,13,0.7,-2.39,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : AshtechGps::processRecord() - $GPGGA,161139.00,3651.04052,N,12152.29944,W,1,13,0.7,-1.84,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161140.00,3651.04017,N,12152.29890,W,1,13,0.7,-1.54,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161141.00,3651.03979,N,12152.29848,W,1,13,0.7,-1.80,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161142.00,3651.03926,N,12152.29829,W,1,13,0.7,-2.17,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161143.00,3651.03883,N,12152.29827,W,1,13,0.7,-2.51,M,-32.59,M,,*72 : BluefinBatt Reply: $aaq0 d- 32.90 2.78 14.25 4.12 4.14 0 24975.02 01:42:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161144.00,3651.03851,N,12152.29841,W,1,13,0.7,-2.76,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161145.00,3651.03820,N,12152.29831,W,1,13,0.7,-2.77,M,-32.59,M,,*7E : BluefinBatt Reply: $b6q0 d- 32.89 1.44 13.67 4.03 4.14 0 10064.70 01:42:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161146.00,3651.03785,N,12152.29846,W,1,13,0.7,-2.86,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161147.00,3651.03371,N,12152.29768,W,1,13,0.7,5.15,M,-32.59,M,,*5E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 2.73 14.84 4.11 4.14 0 16219.14 01:42:22 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161148.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.086667 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161149.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161150.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161151.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161152.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Descend::execute() - Descend terminating on depth 2.186711 > 2.000000 at time 857.201278 : LayeredControl::execute() -- (t = 857.201278) Behavior descend:65736 has changed to state Finished : LayeredControl - sending BehaviorFinished:65736 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : AshtechGps::processRecord() - $GPGGA,161153.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 3.44 14.25 4.12 4.13 0 24974.81 01:42:28 m : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161154.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion waypoint_yoyo after pos 2 : DynoLayeredControl::insert - stack now contains 12 behaviors : Waypoint Initialization: Begin waypoint control at t= 859.73 (wplog) The current location (N,E) = 4078884.3 , 600595.2 (wplog) The next waypoint = 4074920.0 , 600512.0 (wplog) The bearing to the next w.p. is 181.2 Degrees. : LayeredControl::execute() -- (t = 859.741104) Behavior waypoint_yoyo:85077 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:85077 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,161155.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : BluefinBatt Reply: $b6q0 d- 32.86 1.88 13.57 4.03 4.14 0 10064.60 01:42:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161156.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161157.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 33.05 4.16 14.84 4.11 4.14 0 16218.73 01:42:32 m : AshtechGps::processRecord() - $GPGGA,161158.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.086667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161159.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161200.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161201.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161202.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161203.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 3.52 14.25 4.12 4.13 0 24974.41 01:42:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161204.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161205.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.86 1.77 13.67 4.02 4.14 0 10064.37 01:42:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161206.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161207.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.05 4.20 14.94 4.10 4.13 0 16218.44 01:42:42 m : AshtechGps::processRecord() - $GPGGA,161208.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.080000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161209.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161210.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161211.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161212.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161213.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.86 4.71 14.35 4.11 4.13 0 24974.15 01:42:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161214.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161215.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.86 1.73 13.67 4.02 4.14 0 10064.25 01:42:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161216.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161217.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.05 3.77 14.94 4.10 4.13 0 16218.04 01:42:52 m : AshtechGps::processRecord() - $GPGGA,161218.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : AshtechGps::processRecord() - $GPGGA,161219.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161220.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161221.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161222.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161223.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.86 3.52 14.25 4.11 4.13 0 24973.74 01:42:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161224.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161225.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.89 1.73 13.67 4.02 4.14 0 10064.09 01:43:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161226.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161227.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.05 3.73 14.94 4.10 4.13 0 16217.77 01:43:02 m : AshtechGps::processRecord() - $GPGGA,161228.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : AshtechGps::processRecord() - $GPGGA,161229.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161230.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161231.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161232.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161233.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 3.19 14.25 4.11 4.13 0 24973.49 01:43:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161234.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161235.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.86 1.95 13.67 4.02 4.14 0 10063.98 01:43:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161236.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161237.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 4.02 14.94 4.10 4.13 0 16217.37 01:43:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161238.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : AshtechGps::processRecord() - $GPGGA,161239.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161240.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161241.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161242.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161243.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.86 3.30 14.35 4.11 4.13 0 24973.10 01:43:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161244.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161245.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.86 1.84 13.67 4.02 4.14 0 10063.80 01:43:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161246.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161247.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.05 3.77 14.94 4.10 4.13 0 16217.10 01:43:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161248.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : AshtechGps::processRecord() - $GPGGA,161249.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161250.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161251.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161252.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161253.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.86 3.56 14.35 4.11 4.13 0 24972.82 01:43:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161254.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161255.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.86 1.73 13.67 4.02 4.14 0 10063.69 01:43:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161256.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161257.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 4.13 14.94 4.10 4.13 0 16216.70 01:43:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161258.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161259.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161300.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161301.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161302.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161303.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 3.44 14.45 4.11 4.13 0 24972.43 01:43:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161304.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161305.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.86 1.62 13.67 4.02 4.13 0 10063.53 01:43:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161306.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161307.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 33.02 4.38 14.94 4.10 4.13 0 16216.42 01:43:42 m : AshtechGps::processRecord() - $GPGGA,161308.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161309.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161310.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161311.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161312.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161313.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 3.26 14.35 4.11 4.13 0 24972.18 01:43:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161314.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.912485 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.912485 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.912485 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.912485 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161315.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.912485 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.86 1.99 13.67 4.02 4.13 0 10063.42 01:43:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.912485 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.912485 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.317739 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.317739 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161316.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.317739 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.317739 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.317739 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.317739 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.317739 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161317.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.761512 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.761512 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.05 3.16 15.03 4.10 4.13 0 16216.01 01:43:52 m : DepthEnvelope -- Measured altitude 8.761512 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.761512 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.761512 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161318.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.761512 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.761512 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : DepthEnvelope -- Measured altitude 8.761512 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.453835 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.453835 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161319.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.453835 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.453835 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.453835 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.453835 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.453835 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161320.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.705702 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.705702 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.705702 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.705702 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.705702 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161321.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.705702 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.705702 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.705702 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.093271 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.093271 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161322.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.093271 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.093271 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.093271 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.093271 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.093271 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161323.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 1.51 14.45 4.11 4.13 0 24971.86 01:43:58 m : DepthEnvelope -- Measured altitude 6.613003 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.613003 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.613003 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.613003 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.613003 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161324.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.613003 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.613003 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.291305 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.291305 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.291305 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161325.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.291305 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.97 0.32 13.67 4.03 4.14 0 10063.35 01:44:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.291305 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.291305 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.291305 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.291305 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161326.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.157049 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.157049 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.157049 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.157049 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.157049 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161327.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.157049 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.157049 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.13 1.57 15.03 4.12 4.14 0 16215.89 01:44:02 m : DepthEnvelope -- Measured altitude 6.135067 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.135067 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.135067 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161328.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.135067 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.135067 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.086667 : DepthEnvelope -- Measured altitude 6.135067 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.135067 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.334182 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161329.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.334182 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.334182 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.334182 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.334182 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.334182 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161330.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.334182 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.334182 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.610223 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.610223 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.610223 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161331.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.610223 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.610223 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.610223 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.610223 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.748074 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161332.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.748074 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.748074 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.748074 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.748074 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.748074 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161333.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.98 1.00 14.45 4.12 4.14 0 24971.78 01:44:08 m : DepthEnvelope -- Measured altitude 6.748074 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.940287 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.940287 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.940287 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.940287 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161334.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.940287 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.940287 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.940287 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.940287 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.125323 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161335.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.125323 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.97 0.21 13.67 4.03 4.14 0 10063.33 01:44:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.125323 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.125323 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.125323 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.125323 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161336.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.125323 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.297542 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.297542 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.297542 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.297542 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161337.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.297542 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.297542 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.13 1.94 14.94 4.12 4.14 0 16215.72 01:44:12 m : DepthEnvelope -- Measured altitude 7.297542 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.297542 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.523603 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161338.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.523603 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.523603 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : DepthEnvelope -- Measured altitude 7.523603 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.523603 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.523603 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161339.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.523603 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.646661 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.646661 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.646661 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.646661 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161340.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.646661 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.646661 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.646661 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.895337 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.895337 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161341.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.895337 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.895337 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.895337 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.895337 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.895337 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161342.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.895337 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.014803 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.014803 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.014803 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.014803 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161343.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.98 1.51 14.45 4.12 4.14 0 24971.67 01:44:18 m : DepthEnvelope -- Measured altitude 8.014803 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.014803 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.014803 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.111658 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.111658 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161344.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.111658 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.111658 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.111658 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.111658 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.111658 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161345.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.111658 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.97 0.14 13.67 4.03 4.14 0 10063.32 01:44:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.218794 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.218794 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.218794 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.218794 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161346.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.218794 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.218794 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.218794 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.265806 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.265806 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161347.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.265806 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.265806 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.13 1.61 14.94 4.12 4.14 0 16215.61 01:44:22 m : DepthEnvelope -- Measured altitude 8.265806 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.265806 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.265806 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161348.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.205867 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.205867 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : DepthEnvelope -- Measured altitude 8.205867 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.205867 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.205867 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161349.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.205867 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.205867 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.205867 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.428175 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.428175 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161350.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.428175 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.428175 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.428175 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.428175 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.428175 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161351.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.504417 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.504417 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.504417 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.504417 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.504417 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161352.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.504417 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.504417 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.544593 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.544593 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.544593 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161353.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.98 1.07 14.35 4.12 4.14 0 24971.58 01:44:28 m : DepthEnvelope -- Measured altitude 8.544593 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.544593 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.544593 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.544593 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.544593 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161354.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.739372 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.739372 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.739372 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.739372 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.739372 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161355.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.739372 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.97 0.14 13.67 4.03 4.14 0 10063.30 01:44:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.739372 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.931727 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.931727 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.931727 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161356.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.931727 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.931727 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.931727 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.931727 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.110222 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161357.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.110222 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.110222 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.17 1.50 14.94 4.12 4.14 0 16215.44 01:44:32 m : DepthEnvelope -- Measured altitude 9.110222 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.110222 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.110222 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161358.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.110222 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.110222 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : DepthEnvelope -- Measured altitude 9.316009 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.316009 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.316009 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161359.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.316009 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.316009 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.316009 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.316009 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.453891 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161400.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.453891 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.453891 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.453891 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.453891 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.453891 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161401.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.453891 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.453891 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.784164 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.784164 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.784164 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161402.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.784164 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.784164 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.784164 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.784164 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.954558 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161403.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.98 1.11 14.35 4.12 4.14 0 24971.47 01:44:38 m : DepthEnvelope -- Measured altitude 9.954558 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.954558 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.954558 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.954558 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.954558 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161404.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.954558 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- altitude 10.218807 over abort altitude 10.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161405.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.93 0.17 13.67 4.03 4.14 0 10063.28 01:44:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161406.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161407.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.13 2.01 14.94 4.12 4.14 0 16215.32 01:44:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161408.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161409.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161410.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161411.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161412.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161413.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.86 3.71 14.35 4.12 4.14 0 24971.33 01:44:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161414.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161415.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.86 1.91 13.67 4.03 4.14 0 10063.19 01:44:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161416.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161417.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 33.02 4.63 14.84 4.12 4.14 0 16214.91 01:44:52 m : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,161418.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161419.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161420.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161421.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161422.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161423.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.86 3.44 14.35 4.12 4.14 0 24970.91 01:44:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161424.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161425.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.86 1.51 13.67 4.02 4.13 0 10062.98 01:45:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161426.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161427.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 4.13 14.84 4.10 4.13 0 16214.60 01:45:02 m : AshtechGps::processRecord() - $GPGGA,161428.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.080000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161429.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161430.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161431.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161432.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161433.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 3.22 14.35 4.11 4.13 0 24970.66 01:45:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161434.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161435.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.89 1.44 13.67 4.02 4.13 0 10062.85 01:45:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161436.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161437.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 3.84 14.84 4.10 4.13 0 16214.17 01:45:12 m : AshtechGps::processRecord() - $GPGGA,161438.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : AshtechGps::processRecord() - $GPGGA,161439.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161440.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161441.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161442.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161443.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 3.00 14.35 4.11 4.13 0 24970.32 01:45:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161444.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161445.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.89 1.55 13.67 4.02 4.13 0 10062.67 01:45:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161446.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161447.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.05 3.62 14.94 4.11 4.13 0 16213.91 01:45:22 m : AshtechGps::processRecord() - $GPGGA,161448.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.080000 : AshtechGps::processRecord() - $GPGGA,161449.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161450.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161451.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161452.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161453.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 2.92 14.35 4.11 4.13 0 24970.10 01:45:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161454.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161455.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.89 1.33 13.67 4.02 4.13 0 10062.56 01:45:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161456.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161457.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.05 3.77 14.84 4.11 4.13 0 16213.48 01:45:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161458.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.080000 : AshtechGps::processRecord() - $GPGGA,161459.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161500.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161501.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161502.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161503.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 2.89 14.35 4.11 4.13 0 24969.77 01:45:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161504.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161505.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.89 1.41 13.67 4.02 4.14 0 10062.39 01:45:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161506.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161507.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 3.73 14.84 4.10 4.13 0 16213.21 01:45:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161508.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : AshtechGps::processRecord() - $GPGGA,161509.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161510.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161511.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161512.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161513.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.86 3.33 14.25 4.11 4.13 0 24969.55 01:45:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161514.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161515.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.89 1.26 13.67 4.02 4.14 0 10062.28 01:45:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161516.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161517.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.05 3.52 14.74 4.10 4.13 0 16212.81 01:45:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161518.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161519.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161520.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161521.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161522.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161523.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.86 3.22 14.25 4.11 4.13 0 24969.22 01:45:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161524.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161525.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.86 1.66 13.67 4.02 4.13 0 10062.08 01:46:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161526.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161527.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 33.02 3.80 14.84 4.10 4.13 0 16212.54 01:46:02 m : AshtechGps::processRecord() - $GPGGA,161528.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161529.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161530.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161531.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161532.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161533.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.86 4.37 14.16 4.11 4.13 0 24968.98 01:46:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161534.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161535.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.86 1.59 13.76 4.02 4.13 0 10061.95 01:46:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161536.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161537.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 3.98 14.84 4.10 4.13 0 16212.11 01:46:12 m : AshtechGps::processRecord() - $GPGGA,161538.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161539.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161540.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161541.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161542.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161543.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.86 3.22 14.25 4.11 4.13 0 24968.62 01:46:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161544.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161545.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.86 1.59 13.67 4.02 4.13 0 10061.75 01:46:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161546.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161547.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 3.91 14.84 4.10 4.13 0 16211.82 01:46:22 m : AshtechGps::processRecord() - $GPGGA,161548.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : AshtechGps::processRecord() - $GPGGA,161549.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161550.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161551.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161552.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161553.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.86 3.41 14.25 4.11 4.13 0 24968.37 01:46:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161554.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161555.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 1.84 13.67 4.02 4.13 0 10061.61 01:46:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161556.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161557.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 4.34 14.84 4.10 4.13 0 16211.37 01:46:32 m : AshtechGps::processRecord() - $GPGGA,161558.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : AshtechGps::processRecord() - $GPGGA,161559.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161600.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161601.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161602.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161603.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 3.44 14.35 4.11 4.13 0 24968.00 01:46:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161604.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161605.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.86 1.77 13.67 4.02 4.13 0 10061.41 01:46:40 m : AshtechGps::processRecord() - $GPGGA,161606.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161607.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 3.98 14.94 4.10 4.13 0 16211.08 01:46:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161608.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : AshtechGps::processRecord() - $GPGGA,161609.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161610.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161611.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161612.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161613.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.86 3.26 14.35 4.11 4.12 0 24967.77 01:46:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161614.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161615.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.86 1.62 13.67 4.02 4.13 0 10061.29 01:46:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161616.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161617.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 3.77 14.94 4.10 4.13 0 16210.67 01:46:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161618.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : AshtechGps::processRecord() - $GPGGA,161619.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161620.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161621.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161622.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161623.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.86 3.33 14.25 4.11 4.12 0 24967.43 01:46:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161624.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161625.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.86 1.59 13.67 4.02 4.13 0 10061.10 01:47:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161626.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161627.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 3.88 14.94 4.10 4.13 0 16210.41 01:47:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161628.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161629.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161630.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161631.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161632.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161633.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.86 3.30 14.35 4.11 4.13 0 24967.20 01:47:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161634.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161635.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.86 1.55 13.67 4.02 4.13 0 10060.96 01:47:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.946831 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.946831 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.946831 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161636.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.946831 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.946831 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.946831 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.946831 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.946831 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161637.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.133556 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.133556 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 33.02 3.91 14.94 4.10 4.13 0 16209.99 01:47:12 m : DepthEnvelope -- Measured altitude 9.133556 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.133556 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.133556 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161638.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.133556 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.133556 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : DepthEnvelope -- Measured altitude 8.749400 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.749400 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.749400 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161639.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.749400 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.749400 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.749400 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.749400 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.027931 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161640.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.027931 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.027931 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.027931 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.027931 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.027931 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161641.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.027931 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.027931 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.227126 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.227126 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.227126 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161642.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.227126 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.227126 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.227126 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.227126 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.227126 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161643.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 1.03 14.35 4.11 4.13 0 24966.90 01:47:18 m : DepthEnvelope -- Measured altitude 6.616619 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.616619 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.616619 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.616619 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.616619 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161644.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.616619 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.616619 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.170786 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.170786 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.170786 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161645.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.170786 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.93 0.35 13.67 4.03 4.14 0 10060.85 01:47:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.170786 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.170786 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.170786 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.123335 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161646.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.123335 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.123335 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.123335 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.123335 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.123335 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161647.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.123335 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.145574 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.13 1.65 14.94 4.11 4.14 0 16209.86 01:47:22 m : DepthEnvelope -- Measured altitude 6.145574 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.145574 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.145574 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161648.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.145574 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.145574 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.083333 : DepthEnvelope -- Measured altitude 6.145574 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.145574 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.248918 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161649.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.248918 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.248918 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.248918 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.248918 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.248918 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161650.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.248918 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.541523 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.541523 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.541523 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.541523 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161651.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.541523 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.541523 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.541523 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.833827 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.833827 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161652.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.833827 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.833827 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.833827 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.833827 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.833827 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161653.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 1.55 14.45 4.12 4.14 0 24966.79 01:47:28 m : DepthEnvelope -- Measured altitude 6.833827 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.340214 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.340214 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.340214 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.340214 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161654.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.340214 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.340214 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.340214 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.590574 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.590574 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161655.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.590574 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.97 0.32 13.67 4.03 4.14 0 10060.82 01:47:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.590574 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.590574 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.590574 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.590574 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161656.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.738805 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.738805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.738805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.738805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.738805 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161657.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.738805 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.738805 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.13 1.43 14.94 4.11 4.14 0 16209.66 01:47:32 m : DepthEnvelope -- Measured altitude 7.738805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.981494 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.981494 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161658.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.981494 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.981494 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.086667 : DepthEnvelope -- Measured altitude 7.981494 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.981494 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.981494 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161659.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.038298 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.038298 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.038298 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.038298 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.038298 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161700.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.038298 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.038298 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.317052 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.317052 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.317052 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161701.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.317052 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.317052 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.317052 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.317052 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.317052 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161702.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.504244 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.504244 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.504244 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.504244 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.504244 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161703.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 1.41 14.35 4.12 4.14 0 24966.64 01:47:38 m : DepthEnvelope -- Measured altitude 8.504244 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.504244 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.678997 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.678997 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.678997 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161704.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.678997 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.678997 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.678997 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.678997 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.678997 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161705.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.746791 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.93 0.28 13.67 4.03 4.14 0 10060.78 01:47:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.746791 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.746791 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.746791 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.746791 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161706.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.746791 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.746791 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.889994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.889994 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.889994 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161707.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.889994 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.889994 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.13 1.86 14.84 4.12 4.14 0 16209.53 01:47:42 m : DepthEnvelope -- Measured altitude 8.889994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.889994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.941328 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161708.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.941328 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.941328 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : DepthEnvelope -- Measured altitude 8.941328 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.941328 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.941328 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161709.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.941328 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.941328 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.042021 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.042021 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.042021 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161710.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.042021 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.042021 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.042021 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.042021 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.013011 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161711.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.013011 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.013011 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.013011 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.013011 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.013011 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161712.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.013011 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.095060 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.095060 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.095060 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.095060 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161713.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.98 1.11 14.35 4.12 4.14 0 24966.53 01:47:48 m : DepthEnvelope -- Measured altitude 9.095060 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.095060 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.095060 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.095060 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.106808 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161714.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.106808 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.106808 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.106808 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.106808 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.106808 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161715.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.106808 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.97 0.21 13.67 4.03 4.14 0 10060.74 01:47:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.293939 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.293939 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.293939 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.293939 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161716.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.293939 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.293939 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.293939 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.475989 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.475989 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161717.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.475989 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.475989 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.13 1.39 14.84 4.12 4.14 0 16209.35 01:47:52 m : DepthEnvelope -- Measured altitude 9.475989 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.475989 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.475989 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161718.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.475989 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.676355 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.090000 : DepthEnvelope -- Measured altitude 9.676355 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.676355 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.676355 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161719.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.676355 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.676355 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.676355 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.858692 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.858692 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161720.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.858692 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.858692 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.858692 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.858692 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.858692 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161721.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 10.079227 over abort altitude 10.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161722.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161723.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 1.00 14.25 4.12 4.14 0 24966.42 01:47:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161724.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161725.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.93 0.50 13.67 4.03 4.14 0 10060.71 01:48:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161726.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161727.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.05 3.37 14.84 4.11 4.14 0 16209.23 01:48:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161728.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.086667 : AshtechGps::processRecord() - $GPGGA,161729.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161730.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161731.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161732.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161733.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 3.67 14.25 4.12 4.14 0 24966.21 01:48:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161734.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161735.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 2.06 13.67 4.03 4.14 0 10060.57 01:48:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161736.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161737.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 3.95 14.84 4.11 4.14 0 16208.78 01:48:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161738.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.086667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161739.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161740.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161741.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161742.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161743.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 3.56 14.25 4.12 4.14 0 24965.77 01:48:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161744.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161745.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 1.88 13.67 4.01 4.13 0 10060.35 01:48:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161746.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161747.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 33.02 3.55 14.84 4.10 4.12 0 16208.47 01:48:22 m : AshtechGps::processRecord() - $GPGGA,161748.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.076666 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161749.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161750.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161751.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161752.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161753.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.86 3.26 14.16 4.11 4.13 0 24965.52 01:48:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161754.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161755.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.89 1.41 13.57 4.01 4.13 0 10060.22 01:48:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161756.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161757.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.05 3.41 14.84 4.10 4.12 0 16208.04 01:48:32 m : AshtechGps::processRecord() - $GPGGA,161758.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.073334 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161759.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161800.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161801.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161802.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161803.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.86 3.15 14.25 4.11 4.13 0 24965.14 01:48:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161804.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161805.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.86 1.41 13.67 4.01 4.13 0 10060.01 01:48:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161806.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161807.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.05 3.37 14.84 4.10 4.12 0 16207.76 01:48:42 m : AshtechGps::processRecord() - $GPGGA,161808.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.073334 : AshtechGps::processRecord() - $GPGGA,161809.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161810.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161811.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161812.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161813.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.86 4.26 14.16 4.11 4.13 0 24964.89 01:48:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161814.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161815.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 1.99 13.67 4.01 4.13 0 10059.89 01:48:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161816.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161817.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 3.62 14.74 4.10 4.12 0 16207.35 01:48:52 m : AshtechGps::processRecord() - $GPGGA,161818.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.073334 : AshtechGps::processRecord() - $GPGGA,161819.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161820.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161821.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161822.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161823.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.86 3.07 14.16 4.11 4.13 0 24964.53 01:48:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161824.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161825.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.86 1.44 13.57 4.01 4.13 0 10059.69 01:49:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161826.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161827.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.05 3.26 14.74 4.10 4.12 0 16207.06 01:49:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161828.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.073334 : AshtechGps::processRecord() - $GPGGA,161829.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161830.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161831.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161832.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161833.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 3.41 14.06 4.11 4.13 0 24964.29 01:49:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161834.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161835.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.86 1.33 13.57 4.01 4.13 0 10059.56 01:49:10 m : AshtechGps::processRecord() - $GPGGA,161836.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161837.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 3.41 14.74 4.10 4.12 0 16206.64 01:49:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161838.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.073334 : AshtechGps::processRecord() - $GPGGA,161839.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161840.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161841.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161842.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161843.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 3.52 14.06 4.11 4.13 0 24963.92 01:49:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161844.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161845.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.86 1.59 13.57 4.01 4.13 0 10059.36 01:49:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161846.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161847.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 3.55 14.74 4.10 4.12 0 16206.35 01:49:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161848.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.073334 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161849.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161850.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161851.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161852.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161853.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 3.48 14.16 4.11 4.13 0 24963.66 01:49:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161854.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161855.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.86 1.59 13.57 4.01 4.13 0 10059.21 01:49:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161856.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161857.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 33.02 3.59 14.74 4.10 4.12 0 16205.91 01:49:32 m : AshtechGps::processRecord() - $GPGGA,161858.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.073334 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161859.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161900.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161901.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161902.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161903.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 4.93 14.16 4.11 4.13 0 24963.28 01:49:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161904.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161905.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 1.81 13.57 4.01 4.13 0 10059.01 01:49:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161906.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161907.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 3.62 14.74 4.10 4.12 0 16205.63 01:49:42 m : AshtechGps::processRecord() - $GPGGA,161908.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.073334 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161909.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161910.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161911.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161912.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161913.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 3.44 14.16 4.11 4.12 0 24963.02 01:49:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161914.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161915.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.86 1.59 13.57 4.01 4.13 0 10058.84 01:49:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161916.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161917.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 3.62 14.84 4.10 4.12 0 16205.16 01:49:52 m : AshtechGps::processRecord() - $GPGGA,161918.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.073334 : AshtechGps::processRecord() - $GPGGA,161919.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161920.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161921.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161922.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161923.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 3.41 14.16 4.11 4.12 0 24962.66 01:49:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161924.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161925.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.86 1.55 13.57 4.01 4.13 0 10058.63 01:50:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161926.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161927.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 3.55 14.84 4.10 4.12 0 16204.87 01:50:02 m : AshtechGps::processRecord() - $GPGGA,161928.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.073334 : AshtechGps::processRecord() - $GPGGA,161929.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161930.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161931.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161932.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161933.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 3.15 14.25 4.11 4.12 0 24962.39 01:50:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161934.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161935.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.82 1.55 13.57 4.01 4.13 0 10058.51 01:50:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161936.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161937.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 3.55 14.84 4.10 4.12 0 16204.45 01:50:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161938.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.073334 : AshtechGps::processRecord() - $GPGGA,161939.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161940.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161941.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161942.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161943.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 4.19 14.16 4.11 4.12 0 24962.02 01:50:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161944.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161945.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 1.73 13.47 4.01 4.12 0 10058.30 01:50:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161946.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161947.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 3.66 14.84 4.10 4.12 0 16204.15 01:50:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161948.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.073334 : AshtechGps::processRecord() - $GPGGA,161949.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161950.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161951.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161952.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161953.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 3.63 14.25 4.11 4.12 0 24961.77 01:50:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161954.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161955.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.86 1.66 13.47 4.01 4.12 0 10058.16 01:50:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161956.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161957.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 3.52 14.84 4.10 4.12 0 16203.71 01:50:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161958.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.073334 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161959.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.472910 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.472910 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162000.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.472910 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.472910 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.472910 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.472910 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.472910 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162001.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.084504 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.084504 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.084504 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.084504 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.084504 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162002.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.084504 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.084504 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.084504 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.646444 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.646444 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162003.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.86 2.15 14.16 4.11 4.12 0 24961.41 01:50:38 m : DepthEnvelope -- Measured altitude 8.646444 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.646444 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.646444 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.646444 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.646444 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162004.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.231116 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.231116 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.231116 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.231116 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.231116 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162005.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.231116 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.93 0.35 13.57 4.03 4.14 0 10058.02 01:50:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.231116 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.563570 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.563570 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.563570 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162006.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.563570 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.563570 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.563570 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.563570 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.563570 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162007.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.920915 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.920915 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 33.13 1.43 14.84 4.11 4.13 0 16203.50 01:50:42 m : DepthEnvelope -- Measured altitude 6.920915 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.920915 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.920915 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162008.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.920915 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.920915 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.083333 : DepthEnvelope -- Measured altitude 6.235958 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.235958 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.235958 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162009.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.235958 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.235958 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.235958 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.235958 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.037518 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162010.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.037518 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.037518 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.037518 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.037518 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.037518 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162011.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.037518 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.037518 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.761414 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.761414 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.761414 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162012.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.761414 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.761414 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.761414 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.761414 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.786949 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162013.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 1.18 14.25 4.12 4.14 0 24961.31 01:50:48 m : DepthEnvelope -- Measured altitude 5.786949 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.786949 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.786949 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.786949 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.786949 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162014.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.786949 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.894312 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.894312 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.894312 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.894312 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162015.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.894312 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.93 0.28 13.57 4.03 4.14 0 10058.01 01:50:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.894312 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.894312 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.894312 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.078499 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162016.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.078499 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.078499 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.078499 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.078499 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.078499 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162017.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.078499 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.406602 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.13 1.50 14.84 4.11 4.13 0 16203.34 01:50:52 m : DepthEnvelope -- Measured altitude 6.406602 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.406602 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.406602 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162018.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.406602 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.406602 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.086667 : DepthEnvelope -- Measured altitude 6.406602 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.572353 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.572353 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162019.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.572353 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.572353 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.572353 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.572353 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.572353 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162020.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.572353 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.749626 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.749626 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.749626 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.749626 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162021.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.749626 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.749626 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.749626 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.828090 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.828090 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162022.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.828090 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.828090 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.828090 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.828090 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.828090 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162023.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 1.22 14.25 4.12 4.14 0 24961.17 01:50:58 m : DepthEnvelope -- Measured altitude 7.134928 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.134928 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.134928 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.134928 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.134928 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162024.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.134928 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.134928 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.134928 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.235173 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.235173 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162025.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.235173 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.93 0.50 13.47 4.03 4.14 0 10057.97 01:51:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.235173 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.235173 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.235173 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.235173 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162026.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.492083 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.492083 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.492083 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.492083 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.492083 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162027.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.492083 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.492083 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.13 1.43 14.84 4.11 4.14 0 16203.22 01:51:02 m : DepthEnvelope -- Measured altitude 7.585781 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.585781 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.585781 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162028.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.585781 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.585781 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.086667 : DepthEnvelope -- Measured altitude 7.585781 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.585781 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.585781 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162029.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.650534 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.650534 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.650534 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.650534 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.650534 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162030.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.650534 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.650534 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.845012 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.845012 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.845012 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162031.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.845012 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.845012 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.845012 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.845012 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.845012 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162032.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.008412 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.008412 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.008412 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.008412 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.008412 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162033.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 1.18 14.16 4.12 4.13 0 24961.06 01:51:08 m : DepthEnvelope -- Measured altitude 8.008412 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.008412 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.099129 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.099129 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.099129 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162034.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.099129 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.099129 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.099129 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.099129 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.061049 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162035.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.061049 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.93 0.25 13.47 4.03 4.14 0 10057.95 01:51:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.061049 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.061049 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.061049 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.061049 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162036.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.061049 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.061049 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.129020 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.129020 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.129020 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162037.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.129020 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.129020 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.13 2.12 14.84 4.11 4.14 0 16203.06 01:51:12 m : DepthEnvelope -- Measured altitude 8.129020 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.129020 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.246168 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162038.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.246168 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.246168 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.086667 : DepthEnvelope -- Measured altitude 8.246168 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.246168 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.246168 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162039.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.246168 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.321748 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.321748 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.321748 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.321748 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162040.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.321748 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.321748 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.321748 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.321748 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.544176 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162041.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.544176 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.544176 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.544176 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.544176 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.544176 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162042.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.544176 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.697045 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.697045 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.697045 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.697045 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162043.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 1.03 14.16 4.12 4.13 0 24960.93 01:51:18 m : DepthEnvelope -- Measured altitude 8.697045 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.697045 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.697045 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.973835 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.973835 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162044.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.973835 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.973835 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.973835 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.973835 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.973835 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162045.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.973835 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.93 0.28 13.47 4.03 4.14 0 10057.92 01:51:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.205166 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.205166 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.205166 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.205166 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162046.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.205166 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.205166 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.205166 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.269428 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.269428 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162047.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.269428 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.269428 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.09 1.65 14.74 4.11 4.14 0 16202.95 01:51:22 m : DepthEnvelope -- Measured altitude 9.269428 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.269428 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.269428 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162048.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.432404 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.432404 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.086667 : DepthEnvelope -- Measured altitude 9.432404 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.432404 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.432404 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162049.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.432404 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.432404 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.432404 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.658532 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.658532 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162050.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.658532 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.658532 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.658532 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.658532 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.658532 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162051.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.857741 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.857741 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.857741 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.857741 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.857741 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162052.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.857741 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.857741 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.130224 over abort altitude 10.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,162053.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 1.11 14.16 4.12 4.14 0 24960.83 01:51:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162054.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162055.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.93 0.28 13.47 4.03 4.14 0 10057.90 01:51:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162056.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162057.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 2.66 14.74 4.11 4.14 0 16202.75 01:51:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162058.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.086667 : AshtechGps::processRecord() - $GPGGA,162059.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162100.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162101.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162102.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162103.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 3.75 14.06 4.12 4.14 0 24960.57 01:51:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162104.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162105.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 2.06 13.47 4.01 4.12 0 10057.70 01:51:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162106.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162107.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 4.45 14.74 4.10 4.12 0 16202.43 01:51:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162108.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.076666 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162109.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162110.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162111.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162112.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162113.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 3.63 14.16 4.10 4.12 0 24960.29 01:51:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162114.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162115.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.82 2.39 13.47 4.01 4.12 0 10057.56 01:51:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162116.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162117.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 33.02 3.77 14.74 4.10 4.12 0 16201.95 01:51:52 m : AshtechGps::processRecord() - $GPGGA,162118.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.070000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162119.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162120.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162121.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162122.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162123.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 3.37 14.16 4.10 4.12 0 24959.90 01:51:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162124.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162125.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 1.81 13.47 4.01 4.13 0 10057.37 01:52:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162126.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162127.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 3.62 14.74 4.10 4.12 0 16201.67 01:52:02 m : AshtechGps::processRecord() - $GPGGA,162128.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.070000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162129.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162130.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162131.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162132.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162133.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 3.37 14.06 4.11 4.12 0 24959.66 01:52:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162134.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162135.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.82 1.84 13.47 4.01 4.13 0 10057.25 01:52:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162136.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162137.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 3.88 14.74 4.10 4.12 0 16201.27 01:52:12 m : AshtechGps::processRecord() - $GPGGA,162138.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.073334 : AshtechGps::processRecord() - $GPGGA,162139.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162140.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162141.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162142.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162143.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 4.49 14.06 4.11 4.12 0 24959.29 01:52:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162144.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162145.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 1.77 13.47 4.01 4.13 0 10057.07 01:52:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162146.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162147.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 3.59 14.64 4.10 4.12 0 16201.00 01:52:22 m : AshtechGps::processRecord() - $GPGGA,162148.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.073334 : AshtechGps::processRecord() - $GPGGA,162149.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162150.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162151.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162152.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162153.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 3.19 13.96 4.11 4.12 0 24959.07 01:52:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162154.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162155.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.82 1.73 13.47 4.01 4.13 0 10056.95 01:52:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162156.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162157.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 3.77 14.64 4.10 4.12 0 16200.56 01:52:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162158.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.073334 : AshtechGps::processRecord() - $GPGGA,162159.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162200.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162201.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162202.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162203.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 3.22 14.06 4.11 4.12 0 24958.72 01:52:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162204.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162205.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 1.88 13.47 4.01 4.13 0 10056.76 01:52:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162206.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162207.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 3.37 14.64 4.10 4.12 0 16200.29 01:52:42 m : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162208.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.073334 : AshtechGps::processRecord() - $GPGGA,162209.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162210.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162211.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162212.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162213.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 3.15 13.96 4.11 4.12 0 24958.45 01:52:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162214.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162215.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 2.10 13.37 4.01 4.13 0 10056.64 01:52:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162216.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162217.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.66 14.64 4.10 4.12 0 16199.87 01:52:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162218.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.073334 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162219.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162220.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162221.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162222.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162223.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 3.59 13.96 4.11 4.12 0 24958.08 01:52:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162224.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162225.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 1.91 13.37 4.01 4.12 0 10056.40 01:53:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162226.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162227.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 33.02 3.77 14.55 4.10 4.12 0 16199.58 01:53:02 m : AshtechGps::processRecord() - $GPGGA,162228.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.073334 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162229.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162230.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162231.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162232.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162233.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 5.19 13.96 4.10 4.12 0 24957.82 01:53:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162234.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162235.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 2.50 13.47 4.01 4.12 0 10056.25 01:53:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162236.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162237.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 4.06 14.64 4.10 4.12 0 16199.11 01:53:12 m : AshtechGps::processRecord() - $GPGGA,162238.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.070000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162239.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162240.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162241.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162242.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162243.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 3.44 13.96 4.10 4.12 0 24957.42 01:53:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162244.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162245.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 2.24 13.37 4.01 4.12 0 10056.04 01:53:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162246.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162247.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.88 14.64 4.09 4.12 0 16198.82 01:53:22 m : AshtechGps::processRecord() - $GPGGA,162248.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : AshtechGps::processRecord() - $GPGGA,162249.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162250.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162251.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162252.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162253.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 3.48 14.06 4.10 4.12 0 24957.16 01:53:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162254.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162255.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 2.17 13.37 4.01 4.12 0 10055.90 01:53:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162256.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162257.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.98 14.74 4.09 4.12 0 16198.38 01:53:32 m : AshtechGps::processRecord() - $GPGGA,162258.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : AshtechGps::processRecord() - $GPGGA,162259.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162300.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162301.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162302.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162303.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 3.59 14.16 4.10 4.12 0 24956.78 01:53:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162304.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162305.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.82 1.66 13.37 4.01 4.12 0 10055.68 01:53:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162306.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162307.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.91 14.74 4.10 4.12 0 16198.10 01:53:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162308.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.070000 : AshtechGps::processRecord() - $GPGGA,162309.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162310.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162311.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162312.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162313.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 4.45 14.16 4.10 4.12 0 24956.52 01:53:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162314.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162315.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 1.91 13.37 4.01 4.12 0 10055.54 01:53:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162316.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162317.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 4.13 14.74 4.10 4.12 0 16197.65 01:53:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162318.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.070000 : AshtechGps::processRecord() - $GPGGA,162319.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162320.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162321.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162322.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162323.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 3.82 14.16 4.10 4.12 0 24956.16 01:53:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162324.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162325.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 2.13 13.37 4.01 4.12 0 10055.34 01:54:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162326.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162327.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.80 14.74 4.10 4.12 0 16197.37 01:54:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162328.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.070000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162329.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162330.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162331.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162332.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162333.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 3.41 14.06 4.10 4.12 0 24955.91 01:54:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162334.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162335.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.82 1.91 13.37 4.01 4.12 0 10055.21 01:54:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162336.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162337.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.98 3.95 14.74 4.10 4.12 0 16196.93 01:54:12 m : AshtechGps::processRecord() - $GPGGA,162338.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.070000 : DepthEnvelope -- Measured altitude 9.624612 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.624612 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.624612 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162339.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.624612 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.624612 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.624612 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.624612 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.624612 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162340.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.020023 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.020023 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.020023 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.020023 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.020023 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162341.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.020023 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.020023 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.693599 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.693599 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.693599 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162342.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.693599 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.693599 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.693599 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.693599 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.400205 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162343.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 1.11 14.06 4.10 4.12 0 24955.55 01:54:18 m : DepthEnvelope -- Measured altitude 8.400205 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.400205 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.400205 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.400205 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.400205 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162344.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.400205 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.400205 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.722938 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.722938 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.722938 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162345.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.722938 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.89 0.28 13.37 4.03 4.14 0 10055.06 01:54:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.722938 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.722938 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.722938 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.934496 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162346.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.934496 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.934496 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.934496 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.934496 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.934496 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162347.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.934496 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.338692 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.13 1.39 14.74 4.11 4.13 0 16196.73 01:54:22 m : DepthEnvelope -- Measured altitude 6.338692 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.338692 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.338692 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162348.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.338692 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.338692 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.080000 : DepthEnvelope -- Measured altitude 6.338692 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.338692 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.963891 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162349.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.963891 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.963891 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.963891 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.963891 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.963891 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162350.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.963891 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.624437 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.624437 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.624437 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.624437 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162351.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.624437 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.624437 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.624437 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.602657 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.602657 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162352.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.602657 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.602657 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.602657 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.602657 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.602657 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162353.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 1.07 14.16 4.12 4.13 0 24955.47 01:54:28 m : DepthEnvelope -- Measured altitude 5.602657 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.654471 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.654471 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.654471 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.654471 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162354.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.654471 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.654471 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.654471 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.777575 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.777575 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162355.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.777575 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.93 0.28 13.37 4.03 4.14 0 10055.04 01:54:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.777575 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.777575 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.777575 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.777575 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162356.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.937412 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.937412 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.937412 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.937412 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.937412 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162357.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.937412 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.937412 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.09 1.68 14.64 4.11 4.13 0 16196.55 01:54:32 m : DepthEnvelope -- Measured altitude 5.937412 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.038633 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.038633 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162358.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.038633 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.038633 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.086667 : DepthEnvelope -- Measured altitude 6.038633 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.038633 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.038633 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162359.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.223602 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.223602 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.223602 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.223602 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.223602 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162400.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.223602 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.223602 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.223602 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.459567 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.459567 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162401.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.459567 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.459567 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.459567 under allowable altitude 10.000000. Stopping! : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion FireTheGulperAMC after pos 2 : DynoLayeredControl::insert - stack now contains 13 behaviors : The FireTheGulperAMC Behavior has executed. FIRING THE GULPER NOW. : LayeredControl::execute() -- (t = 1586.751300) Behavior FireTheGulperAMC:271345 has changed to state Active : LayeredControl - FireTheGulperAMC BehaviorStarted:271345 msg to VcsServer : DepthEnvelope -- Measured altitude 6.459567 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.459567 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162402.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.445787 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.445787 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.445787 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.445787 under allowable altitude 10.000000. Stopping! : Gulper::fireGulper - cmd is $001Fff : DepthEnvelope -- Measured altitude 6.445787 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162403.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 1.29 14.16 4.12 4.13 0 24955.36 01:54:38 m : DepthEnvelope -- Measured altitude 6.445787 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.445787 under allowable altitude 10.000000. Stopping! : LayeredControl::execute() -- (t = 1588.401187) Behavior FireTheGulperAMC:271345 has changed to state Finished : LayeredControl - sending BehaviorFinished:271345 msg to VcsServer : DepthEnvelope -- Measured altitude 6.736698 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.736698 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.736698 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162404.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.736698 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.736698 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.736698 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.736698 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.736698 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162405.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.850714 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.93 0.25 13.37 4.03 4.14 0 10055.01 01:54:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.850714 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.850714 under allowable altitude 10.000000. Stopping! : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion FireTheGulperAMC after pos 2 : DynoLayeredControl::insert - stack now contains 14 behaviors : The FireTheGulperAMC Behavior has executed. FIRING THE GULPER NOW. : LayeredControl::execute() -- (t = 1590.751026) Behavior FireTheGulperAMC:271314 has changed to state Active : LayeredControl - FireTheGulperAMC BehaviorStarted:271314 msg to VcsServer : DepthEnvelope -- Measured altitude 6.850714 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.850714 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162406.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.850714 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.850714 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.149853 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.149853 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : Gulper::fireGulper - cmd is $011Fff : DepthEnvelope -- Measured altitude 7.149853 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162407.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.149853 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.149853 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.13 1.47 14.64 4.11 4.14 0 16196.45 01:54:42 m : LayeredControl::execute() -- (t = 1592.400913) Behavior FireTheGulperAMC:271314 has changed to state Finished : LayeredControl - sending BehaviorFinished:271314 msg to VcsServer : DepthEnvelope -- Measured altitude 7.149853 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.149853 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.133811 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162408.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.133811 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.133811 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.086667 : DepthEnvelope -- Measured altitude 7.133811 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.133811 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.133811 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162409.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.133811 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.133811 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.281743 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.281743 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.281743 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162410.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.281743 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.281743 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.281743 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.281743 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.285750 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162411.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.285750 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.285750 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.285750 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.285750 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.285750 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162412.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.285750 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.371928 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.371928 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.371928 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.371928 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162413.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 1.18 14.06 4.12 4.14 0 24955.29 01:54:48 m : DepthEnvelope -- Measured altitude 7.371928 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.371928 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.371928 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.371928 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.440050 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162414.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.440050 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.440050 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.440050 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.440050 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.440050 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162415.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.440050 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.89 0.54 13.37 4.03 4.14 0 10054.98 01:54:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.477985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.477985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.477985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.477985 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162416.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.477985 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.477985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.477985 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.477985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.569287 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162417.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.569287 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.569287 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.13 1.39 14.64 4.11 4.14 0 16196.28 01:54:52 m : DepthEnvelope -- Measured altitude 7.569287 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.569287 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.569287 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162418.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.569287 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.757121 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.086667 : DepthEnvelope -- Measured altitude 7.757121 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.757121 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.757121 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162419.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.757121 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.757121 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.757121 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.878177 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.878177 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162420.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.878177 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.878177 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.878177 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.878177 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.878177 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162421.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.878177 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.123458 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.123458 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.123458 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.123458 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162422.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.123458 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.123458 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.123458 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.270201 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.270201 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162423.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 1.07 13.96 4.12 4.14 0 24955.17 01:54:58 m : DepthEnvelope -- Measured altitude 8.270201 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.270201 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.270201 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.270201 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.270201 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162424.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.560367 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.560367 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.560367 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.560367 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.560367 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162425.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.560367 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.93 0.28 13.37 4.03 4.14 0 10054.95 01:55:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.560367 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.560367 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.622527 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.622527 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162426.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.622527 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.622527 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.622527 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.622527 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.622527 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162427.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.030388 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.030388 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.09 1.43 14.64 4.11 4.14 0 16196.18 01:55:02 m : DepthEnvelope -- Measured altitude 9.030388 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.030388 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.030388 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162428.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.030388 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.030388 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.086667 : DepthEnvelope -- Measured altitude 9.223664 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.223664 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.223664 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162429.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.223664 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.223664 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.223664 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.223664 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.223664 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162430.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.488492 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.488492 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.488492 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.488492 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.488492 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162431.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.488492 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.488492 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.807994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.807994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.807994 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162432.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.807994 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.807994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.807994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.807994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.765622 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162433.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 1.03 14.06 4.12 4.14 0 24955.09 01:55:08 m : DepthEnvelope -- Measured altitude 9.765622 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.765622 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.765622 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.765622 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.765622 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162434.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.765622 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.765622 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.125829 over abort altitude 10.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162435.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.93 0.50 13.37 4.03 4.14 0 10054.92 01:55:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162436.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162437.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.09 1.43 14.64 4.11 4.14 0 16196.00 01:55:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162438.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.086667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162439.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162440.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162441.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162442.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162443.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 3.41 14.06 4.12 4.14 0 24954.90 01:55:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162444.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162445.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 1.91 13.37 4.01 4.12 0 10054.77 01:55:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162446.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162447.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.98 3.95 14.64 4.10 4.12 0 16195.72 01:55:22 m : AshtechGps::processRecord() - $GPGGA,162448.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.076666 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162449.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162450.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162451.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162452.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162453.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.85 13.96 4.10 4.12 0 24954.63 01:55:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162454.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162455.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 1.99 13.37 4.01 4.12 0 10054.62 01:55:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162456.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162457.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 4.38 14.64 4.10 4.12 0 16195.25 01:55:32 m : AshtechGps::processRecord() - $GPGGA,162458.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.070000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162459.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162500.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162501.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162502.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162503.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 3.52 13.96 4.10 4.12 0 24954.22 01:55:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162504.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162505.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 1.88 13.28 4.01 4.12 0 10054.42 01:55:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162506.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162507.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 33.02 3.41 14.55 4.10 4.12 0 16194.97 01:55:42 m : AshtechGps::processRecord() - $GPGGA,162508.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.070000 : AshtechGps::processRecord() - $GPGGA,162509.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162510.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162511.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162512.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162513.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 3.56 13.86 4.10 4.12 0 24953.97 01:55:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162514.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162515.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 1.70 13.37 4.01 4.12 0 10054.29 01:55:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162516.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162517.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.34 14.55 4.10 4.12 0 16194.56 01:55:52 m : AshtechGps::processRecord() - $GPGGA,162518.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.070000 : AshtechGps::processRecord() - $GPGGA,162519.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162520.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162521.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162522.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162523.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 3.48 13.86 4.10 4.12 0 24953.59 01:55:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162524.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162525.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.82 1.81 13.28 4.01 4.12 0 10054.10 01:56:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162526.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162527.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.44 14.45 4.10 4.12 0 16194.24 01:56:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162528.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.070000 : AshtechGps::processRecord() - $GPGGA,162529.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162530.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162531.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162532.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162533.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.71 13.96 4.10 4.12 0 24953.35 01:56:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162534.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162535.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 2.06 13.37 4.01 4.12 0 10053.97 01:56:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162536.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162537.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.66 14.45 4.10 4.12 0 16193.84 01:56:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162538.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.070000 : AshtechGps::processRecord() - $GPGGA,162539.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162540.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162541.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162542.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162543.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 3.19 13.86 4.10 4.12 0 24952.95 01:56:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162544.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162545.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 2.10 13.37 4.01 4.12 0 10053.76 01:56:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162546.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162547.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.70 14.45 4.10 4.12 0 16193.55 01:56:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162548.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.070000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162549.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162550.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162551.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162552.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162553.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 3.82 13.86 4.10 4.12 0 24952.67 01:56:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162554.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162555.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 1.88 13.37 4.01 4.12 0 10053.60 01:56:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162556.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162557.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.98 3.91 14.45 4.10 4.12 0 16193.11 01:56:32 m : AshtechGps::processRecord() - $GPGGA,162558.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.070000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162559.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162600.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162601.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162602.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162603.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.56 13.86 4.10 4.12 0 24952.24 01:56:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162604.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162605.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 1.88 13.28 4.01 4.12 0 10053.39 01:56:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162606.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162607.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.80 14.45 4.09 4.12 0 16192.80 01:56:42 m : AshtechGps::processRecord() - $GPGGA,162608.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162609.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162610.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162611.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162612.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162613.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 3.85 13.86 4.10 4.12 0 24951.96 01:56:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162614.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162615.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 2.60 13.28 4.01 4.12 0 10053.23 01:56:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162616.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162617.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.73 14.45 4.09 4.12 0 16192.34 01:56:52 m : AshtechGps::processRecord() - $GPGGA,162618.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : AshtechGps::processRecord() - $GPGGA,162619.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162620.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162621.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162622.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162623.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.97 13.86 4.10 4.12 0 24951.54 01:56:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162624.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162625.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 2.02 13.28 4.01 4.12 0 10053.01 01:57:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162626.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162627.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.94 4.09 14.45 4.09 4.12 0 16192.05 01:57:02 m : AshtechGps::processRecord() - $GPGGA,162628.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : AshtechGps::processRecord() - $GPGGA,162629.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162630.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162631.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162632.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162633.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.56 13.86 4.10 4.11 0 24951.28 01:57:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162634.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162635.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.82 1.99 13.28 4.01 4.12 0 10052.87 01:57:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162636.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162637.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.94 3.98 14.55 4.09 4.12 0 16191.63 01:57:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162638.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : AshtechGps::processRecord() - $GPGGA,162639.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162640.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162641.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162642.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162643.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 3.52 13.96 4.10 4.11 0 24950.88 01:57:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162644.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162645.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 2.02 13.28 4.01 4.12 0 10052.65 01:57:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162646.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162647.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.73 14.55 4.09 4.12 0 16191.33 01:57:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162648.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : AshtechGps::processRecord() - $GPGGA,162649.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162650.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162651.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162652.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162653.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.41 13.96 4.10 4.12 0 24950.61 01:57:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162654.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162655.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 2.39 13.28 4.01 4.12 0 10052.52 01:57:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162656.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162657.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.55 14.55 4.09 4.12 0 16190.91 01:57:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162658.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162659.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162700.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162701.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162702.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162703.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.63 13.96 4.10 4.12 0 24950.23 01:57:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162704.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162705.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 2.13 13.28 4.01 4.12 0 10052.28 01:57:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162706.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162707.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.98 3.52 14.64 4.09 4.12 0 16190.63 01:57:42 m : AshtechGps::processRecord() - $GPGGA,162708.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162709.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162710.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162711.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162712.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162713.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 3.33 13.96 4.10 4.12 0 24949.97 01:57:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162714.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162715.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 2.10 13.18 4.01 4.12 0 10052.13 01:57:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162716.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162717.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.80 14.64 4.09 4.12 0 16190.22 01:57:52 m : AshtechGps::processRecord() - $GPGGA,162718.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162719.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162720.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162721.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162722.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162723.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 3.33 13.96 4.10 4.12 0 24949.60 01:57:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162724.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162725.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 1.84 13.28 4.01 4.12 0 10051.93 01:58:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162726.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162727.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.73 14.64 4.09 4.12 0 16189.94 01:58:02 m : AshtechGps::processRecord() - $GPGGA,162728.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : AshtechGps::processRecord() - $GPGGA,162729.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162730.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162731.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162732.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162733.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 3.59 13.96 4.10 4.12 0 24949.33 01:58:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162734.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162735.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 1.81 13.18 4.01 4.12 0 10051.78 01:58:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162736.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162737.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.66 14.64 4.09 4.12 0 16189.52 01:58:12 m : AshtechGps::processRecord() - $GPGGA,162738.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.636940 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.636940 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : DepthEnvelope -- Measured altitude 9.636940 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.636940 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.636940 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162739.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.636940 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.636940 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.024610 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.024610 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.024610 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162740.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.024610 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.024610 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.024610 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.024610 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.634508 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162741.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.634508 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.634508 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.634508 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.634508 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.634508 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162742.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.634508 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.634508 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.090155 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.090155 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.090155 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162743.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.86 1.41 13.96 4.10 4.12 0 24948.99 01:58:18 m : DepthEnvelope -- Measured altitude 8.090155 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.090155 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.090155 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.090155 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.470134 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162744.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.470134 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.470134 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.470134 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.470134 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.470134 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162745.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.470134 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.89 0.79 13.28 4.02 4.14 0 10051.63 01:58:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.909870 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.909870 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.909870 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.909870 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162746.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.909870 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.909870 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.909870 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.909870 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.354230 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162747.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.354230 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.354230 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.05 1.83 14.64 4.11 4.13 0 16189.34 01:58:22 m : DepthEnvelope -- Measured altitude 6.354230 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.354230 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.354230 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162748.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.354230 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.104375 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : DepthEnvelope -- Measured altitude 6.104375 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.104375 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.104375 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162749.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.104375 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.104375 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.104375 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.966872 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.966872 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162750.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.966872 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.966872 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.966872 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.966872 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.966872 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162751.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.966872 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.953896 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.953896 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.953896 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.953896 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162752.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.953896 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.953896 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.953896 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.099326 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.099326 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162753.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 1.44 13.96 4.11 4.13 0 24948.90 01:58:28 m : DepthEnvelope -- Measured altitude 6.099326 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.099326 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.099326 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.099326 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.099326 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162754.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.099326 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.426529 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.426529 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.426529 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.426529 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162755.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.426529 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.89 0.46 13.28 4.02 4.14 0 10051.59 01:58:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.426529 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.426529 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.615070 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.615070 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162756.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.615070 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.615070 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.615070 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.615070 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.615070 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162757.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.773152 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.773152 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.09 1.39 14.64 4.11 4.13 0 16189.14 01:58:32 m : DepthEnvelope -- Measured altitude 6.773152 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.773152 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.773152 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162758.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.773152 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.773152 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.080000 : DepthEnvelope -- Measured altitude 6.773152 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.830747 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.830747 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162759.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.830747 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.830747 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.830747 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.830747 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.830747 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162800.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.055447 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.055447 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.055447 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.055447 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.055447 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162801.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.055447 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.055447 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.202735 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.202735 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.202735 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162802.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.202735 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.202735 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.202735 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.202735 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.202735 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162803.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.90 1.07 13.86 4.11 4.13 0 24948.75 01:58:38 m : DepthEnvelope -- Measured altitude 7.503466 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.503466 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.503466 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.503466 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.503466 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162804.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.503466 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.503466 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.514704 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.514704 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.514704 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162805.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.514704 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.89 0.35 13.28 4.02 4.14 0 10051.55 01:58:40 m : DepthEnvelope -- Measured altitude 7.514704 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.514704 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.514704 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.803200 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162806.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.803200 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.803200 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.803200 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.803200 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.803200 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162807.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.803200 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.803200 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.05 1.83 14.55 4.10 4.13 0 16189.01 01:58:42 m : DepthEnvelope -- Measured altitude 7.825089 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.825089 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.825089 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162808.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.825089 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.825089 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : DepthEnvelope -- Measured altitude 7.825089 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.825089 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.914532 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162809.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.914532 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.914532 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.914532 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.914532 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.914532 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162810.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.914532 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.914532 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.917038 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.917038 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.917038 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162811.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.917038 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.917038 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.917038 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.917038 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.013035 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162812.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.013035 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.013035 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.013035 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.013035 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.013035 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162813.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.86 1.44 13.96 4.12 4.13 0 24948.65 01:58:48 m : DepthEnvelope -- Measured altitude 8.013035 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.148317 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.148317 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.148317 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.148317 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162814.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.148317 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.148317 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.148317 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.148317 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.156709 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162815.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.156709 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.89 0.43 13.28 4.02 4.14 0 10051.51 01:58:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.156709 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.156709 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.156709 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.156709 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162816.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.156709 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.298343 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.298343 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.298343 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.298343 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162817.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.298343 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.298343 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 33.09 1.43 14.55 4.10 4.13 0 16188.81 01:58:52 m : DepthEnvelope -- Measured altitude 8.298343 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.384884 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.384884 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162818.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.384884 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.384884 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.080000 : DepthEnvelope -- Measured altitude 8.384884 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.384884 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.384884 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162819.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.384884 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.517039 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.517039 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.517039 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.517039 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162820.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.517039 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.517039 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.517039 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.802962 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.802962 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162821.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.802962 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.802962 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.802962 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.802962 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.802962 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162822.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.074225 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.074225 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.074225 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.074225 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.074225 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162823.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.94 1.07 13.86 4.12 4.13 0 24948.49 01:58:58 m : DepthEnvelope -- Measured altitude 9.074225 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.074225 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.074225 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.290154 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.290154 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162824.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.290154 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.290154 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.290154 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.290154 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.290154 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162825.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.591805 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.89 0.28 13.18 4.02 4.14 0 10051.46 01:59:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.591805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.591805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.591805 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.591805 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162826.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.591805 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.591805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.591805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.742585 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.742585 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162827.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.742585 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.742585 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.09 1.43 14.55 4.11 4.13 0 16188.69 01:59:02 m : DepthEnvelope -- Measured altitude 9.742585 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.742585 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.742585 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162828.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.920153 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.920153 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : DepthEnvelope -- Measured altitude 9.920153 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.920153 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.920153 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162829.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.920153 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.920153 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.085763 over abort altitude 10.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162830.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162831.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162832.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162833.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.86 1.44 13.96 4.12 4.13 0 24948.41 01:59:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162834.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162835.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 1.48 13.18 4.02 4.14 0 10051.43 01:59:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162836.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162837.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.77 14.45 4.11 4.13 0 16188.44 01:59:12 m : AshtechGps::processRecord() - $GPGGA,162838.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.083333 : AshtechGps::processRecord() - $GPGGA,162839.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162840.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162841.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162842.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162843.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 3.52 13.86 4.12 4.13 0 24948.09 01:59:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162844.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162845.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 1.91 13.18 4.01 4.12 0 10051.22 01:59:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162846.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162847.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.80 14.45 4.09 4.12 0 16188.15 01:59:22 m : AshtechGps::processRecord() - $GPGGA,162848.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.073333 : AshtechGps::processRecord() - $GPGGA,162849.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162850.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162851.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162852.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162853.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.26 13.86 4.10 4.12 0 24947.84 01:59:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162854.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162855.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.82 1.73 13.18 4.01 4.12 0 10051.06 01:59:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162856.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162857.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.52 14.45 4.09 4.12 0 16187.71 01:59:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162858.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : AshtechGps::processRecord() - $GPGGA,162859.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162900.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162901.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162902.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162903.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 3.11 13.76 4.10 4.12 0 24947.48 01:59:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162904.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162905.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 1.55 13.18 4.01 4.12 0 10050.85 01:59:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162906.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162907.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.37 14.45 4.10 4.12 0 16187.44 01:59:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162908.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.070000 : AshtechGps::processRecord() - $GPGGA,162909.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162910.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162911.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162912.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162913.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.19 13.96 4.10 4.12 0 24947.26 01:59:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162914.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162915.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 1.55 13.18 4.01 4.12 0 10050.72 01:59:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162916.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162917.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.34 14.35 4.10 4.12 0 16187.01 01:59:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162918.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.070000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162919.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162920.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162921.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162922.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162923.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 3.59 13.76 4.10 4.12 0 24946.91 01:59:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162924.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162925.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 1.62 13.18 4.01 4.12 0 10050.52 02:00:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162926.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162927.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.98 3.19 14.45 4.10 4.12 0 16186.75 02:00:02 m : AshtechGps::processRecord() - $GPGGA,162928.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.070000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162929.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162930.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162931.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162932.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162933.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.15 13.76 4.10 4.12 0 24946.68 02:00:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162934.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162935.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 1.59 13.18 4.01 4.12 0 10050.37 02:00:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162936.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162937.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.30 14.35 4.10 4.12 0 16186.33 02:00:12 m : AshtechGps::processRecord() - $GPGGA,162938.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.070000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162939.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162940.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162941.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162942.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162943.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.07 13.86 4.10 4.12 0 24946.35 02:00:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162944.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162945.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 1.59 13.18 4.01 4.12 0 10050.16 02:00:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162946.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162947.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.23 14.35 4.09 4.12 0 16186.07 02:00:22 m : AshtechGps::processRecord() - $GPGGA,162948.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : AshtechGps::processRecord() - $GPGGA,162949.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162950.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162951.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162952.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162953.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 3.71 13.76 4.10 4.12 0 24946.09 02:00:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162954.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162955.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 1.66 13.18 4.01 4.12 0 10050.03 02:00:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162956.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162957.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.30 14.35 4.09 4.12 0 16185.65 02:00:32 m : AshtechGps::processRecord() - $GPGGA,162958.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : AshtechGps::processRecord() - $GPGGA,162959.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163000.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163001.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163002.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163003.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 3.67 13.76 4.10 4.12 0 24945.75 02:00:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163004.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163005.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.78 1.70 13.18 4.01 4.12 0 10049.81 02:00:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163006.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163007.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.94 3.91 14.35 4.09 4.12 0 16185.37 02:00:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163008.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : AshtechGps::processRecord() - $GPGGA,163009.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163010.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163011.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163012.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163013.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.75 13.67 4.10 4.12 0 24945.50 02:00:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163014.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163015.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 1.66 13.18 4.01 4.12 0 10049.65 02:00:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163016.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163017.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 4.27 14.35 4.09 4.12 0 16184.93 02:00:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163018.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : AshtechGps::processRecord() - $GPGGA,163019.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163020.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163021.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163022.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163023.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.59 13.76 4.10 4.12 0 24945.12 02:00:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163024.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163025.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 1.91 13.18 4.00 4.12 0 10049.41 02:01:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163026.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163027.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.55 14.35 4.09 4.12 0 16184.62 02:01:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163028.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.063334 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163029.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163030.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163031.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163032.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163033.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.52 13.76 4.10 4.12 0 24944.85 02:01:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163034.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163035.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 1.77 13.18 4.00 4.12 0 10049.26 02:01:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163036.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163037.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.98 3.59 14.45 4.09 4.12 0 16184.17 02:01:12 m : AshtechGps::processRecord() - $GPGGA,163038.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.063334 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163039.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163040.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163041.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163042.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163043.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.59 13.76 4.10 4.12 0 24944.49 02:01:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163044.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163045.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.78 1.91 13.18 4.01 4.12 0 10049.03 02:01:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163046.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163047.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.94 4.52 14.45 4.09 4.12 0 16183.84 02:01:22 m : AshtechGps::processRecord() - $GPGGA,163048.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163049.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163050.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163051.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163052.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163053.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.30 13.76 4.10 4.12 0 24944.24 02:01:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163054.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163055.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.78 1.84 13.18 4.01 4.12 0 10048.89 02:01:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163056.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163057.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.94 3.66 14.45 4.09 4.12 0 16183.40 02:01:32 m : AshtechGps::processRecord() - $GPGGA,163058.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : AshtechGps::processRecord() - $GPGGA,163059.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163100.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163101.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163102.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163103.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.67 13.86 4.10 4.12 0 24943.86 02:01:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163104.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163105.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 1.81 13.18 4.01 4.12 0 10048.66 02:01:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163106.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163107.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.55 14.45 4.09 4.12 0 16183.11 02:01:42 m : AshtechGps::processRecord() - $GPGGA,163108.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : AshtechGps::processRecord() - $GPGGA,163109.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163110.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163111.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163112.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163113.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 3.30 13.76 4.10 4.12 0 24943.61 02:01:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163114.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163115.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.78 1.77 13.18 4.01 4.12 0 10048.51 02:01:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163116.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163117.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.55 14.45 4.09 4.12 0 16182.67 02:01:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163118.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : AshtechGps::processRecord() - $GPGGA,163119.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163120.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163121.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163122.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163123.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.19 13.96 4.10 4.12 0 24943.23 02:01:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163124.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163125.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 2.02 13.18 4.00 4.12 0 10048.28 02:02:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163126.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163127.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.55 14.45 4.09 4.11 0 16182.36 02:02:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163128.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.063334 : AshtechGps::processRecord() - $GPGGA,163129.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163130.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.989942 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.989942 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.989942 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.989942 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163131.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.989942 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.989942 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.989942 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.363815 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.363815 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,163132.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.363815 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.363815 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.363815 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.363815 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.363815 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163133.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.48 13.86 4.10 4.11 0 24942.98 02:02:08 m : DepthEnvelope -- Measured altitude 9.083368 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.083368 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.083368 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.083368 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.083368 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163134.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.083368 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.083368 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.083368 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.690640 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.690640 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163135.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.690640 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.86 0.54 13.08 4.00 4.12 0 10048.12 02:02:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.690640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.690640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.690640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.690640 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163136.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.949934 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.949934 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.949934 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.949934 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.949934 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163137.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.949934 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.949934 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.05 1.47 14.45 4.09 4.11 0 16182.02 02:02:12 m : DepthEnvelope -- Measured altitude 7.305923 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.305923 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.305923 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163138.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.305923 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.305923 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.063334 : DepthEnvelope -- Measured altitude 7.305923 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.305923 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.305923 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,163139.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.788075 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.788075 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.788075 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.788075 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.788075 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163140.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.788075 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.788075 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.303404 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.303404 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.303404 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163141.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.303404 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.303404 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.303404 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.303404 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.185948 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163142.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.185948 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.185948 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.185948 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.185948 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.185948 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163143.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.86 1.03 13.86 4.10 4.11 0 24942.77 02:02:18 m : DepthEnvelope -- Measured altitude 6.185948 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.185948 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.155656 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.155656 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.155656 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163144.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.155656 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.155656 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.155656 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.155656 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.161737 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163145.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.161737 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.86 0.43 13.18 4.02 4.13 0 10048.07 02:02:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.161737 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.161737 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.161737 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.161737 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,163146.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.161737 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.436774 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.436774 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.436774 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.436774 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163147.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.436774 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.436774 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 33.02 1.94 14.45 4.10 4.13 0 16181.89 02:02:22 m : DepthEnvelope -- Measured altitude 6.436774 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.436774 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.613456 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163148.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.613456 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.613456 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.073333 : DepthEnvelope -- Measured altitude 6.613456 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.613456 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.613456 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163149.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.613456 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.729886 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.729886 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.729886 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.729886 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163150.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.729886 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.729886 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.729886 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.878701 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.878701 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163151.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.878701 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.878701 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.878701 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.878701 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.878701 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163152.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.878701 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.087007 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.087007 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.087007 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.087007 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,163153.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 1.44 13.76 4.11 4.13 0 24942.67 02:02:28 m : DepthEnvelope -- Measured altitude 7.087007 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.087007 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.087007 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.229285 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.229285 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163154.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.229285 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.229285 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.229285 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.229285 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.229285 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163155.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.229285 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.86 0.32 13.18 4.02 4.13 0 10048.03 02:02:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.394291 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.394291 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.394291 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.394291 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163156.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.394291 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.394291 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.394291 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.561865 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.561865 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163157.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.561865 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.561865 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.05 1.50 14.45 4.10 4.13 0 16181.70 02:02:32 m : DepthEnvelope -- Measured altitude 7.561865 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.561865 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.561865 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163158.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.780682 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.780682 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : DepthEnvelope -- Measured altitude 7.780682 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.780682 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.780682 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163159.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.780682 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.780682 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.780682 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.872241 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.872241 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,163200.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.872241 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.872241 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.872241 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.872241 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.872241 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163201.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.991322 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.991322 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.991322 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.991322 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.991322 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163202.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.991322 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.991322 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.972974 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.972974 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.972974 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163203.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.86 1.07 13.76 4.11 4.13 0 24942.52 02:02:38 m : DepthEnvelope -- Measured altitude 7.972974 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.972974 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.972974 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.972974 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.972974 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163204.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.065803 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.065803 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.065803 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.065803 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.065803 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163205.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.065803 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.86 0.35 13.08 4.02 4.13 0 10047.98 02:02:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.065803 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.051173 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.051173 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.051173 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163206.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.051173 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.051173 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.051173 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.051173 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.126446 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,163207.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.126446 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.126446 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.02 1.86 14.45 4.10 4.13 0 16181.57 02:02:42 m : DepthEnvelope -- Measured altitude 8.126446 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.126446 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.126446 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163208.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.126446 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.126446 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : DepthEnvelope -- Measured altitude 8.270060 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.270060 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.270060 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163209.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.270060 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.270060 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.270060 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.270060 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.339877 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163210.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.339877 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.339877 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.339877 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.339877 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.339877 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163211.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.339877 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.339877 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.553394 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.553394 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.553394 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163212.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.553394 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.553394 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.553394 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.553394 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.625767 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163213.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.86 1.00 13.76 4.11 4.13 0 24942.43 02:02:48 m : DepthEnvelope -- Measured altitude 8.625767 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.625767 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.625767 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.625767 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.625767 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,163214.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.625767 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.825112 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.825112 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.825112 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.825112 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163215.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.825112 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.86 0.32 13.08 4.02 4.13 0 10047.96 02:02:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.825112 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.825112 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.825112 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.083992 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163216.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.083992 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.083992 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.083992 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.083992 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.083992 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163217.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.083992 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.188910 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.05 1.39 14.45 4.10 4.13 0 16181.41 02:02:52 m : DepthEnvelope -- Measured altitude 9.188910 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.188910 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.188910 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163218.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.188910 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.188910 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : DepthEnvelope -- Measured altitude 9.188910 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.472838 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.472838 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163219.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.472838 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.472838 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.472838 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.472838 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.472838 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163220.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.472838 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.837983 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.837983 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.837983 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.837983 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,163221.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.837983 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.837983 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.837983 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.117353 over abort altitude 10.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,163222.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163223.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 1.26 13.76 4.11 4.13 0 24942.32 02:02:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163224.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163225.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.86 0.72 13.08 4.02 4.13 0 10047.92 02:03:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163226.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163227.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.91 14.35 4.10 4.13 0 16181.29 02:03:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163228.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : AshtechGps::processRecord() - $GPGGA,163229.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163230.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163231.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163232.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163233.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.56 13.76 4.11 4.12 0 24942.14 02:03:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163234.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163235.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 2.24 13.08 4.02 4.13 0 10047.77 02:03:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163236.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163237.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.94 3.98 14.35 4.10 4.13 0 16180.84 02:03:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163238.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : AshtechGps::processRecord() - $GPGGA,163239.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163240.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163241.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163242.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163243.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.67 13.67 4.11 4.12 0 24941.75 02:03:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163244.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163245.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 1.84 13.08 4.00 4.12 0 10047.53 02:03:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163246.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163247.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.44 14.45 4.09 4.11 0 16180.53 02:03:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163248.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.066667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163249.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163250.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163251.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163252.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163253.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 3.19 13.76 4.10 4.12 0 24941.48 02:03:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163254.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163255.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.78 1.73 13.08 4.00 4.12 0 10047.39 02:03:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163256.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163257.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.98 3.59 14.35 4.09 4.11 0 16180.12 02:03:32 m : AshtechGps::processRecord() - $GPGGA,163258.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.063334 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163259.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163300.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163301.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163302.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163303.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 3.15 13.67 4.10 4.12 0 24941.12 02:03:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163304.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163305.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.78 1.51 13.08 4.01 4.12 0 10047.19 02:03:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163306.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163307.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.30 14.35 4.09 4.12 0 16179.86 02:03:42 m : AshtechGps::processRecord() - $GPGGA,163308.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163309.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163310.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163311.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163312.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163313.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.33 13.76 4.10 4.12 0 24940.89 02:03:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163314.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163315.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 1.66 13.08 4.01 4.12 0 10047.05 02:03:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163316.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163317.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.94 3.26 14.35 4.09 4.12 0 16179.43 02:03:52 m : AshtechGps::processRecord() - $GPGGA,163318.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : AshtechGps::processRecord() - $GPGGA,163319.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163320.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163321.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163322.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163323.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.37 13.76 4.10 4.12 0 24940.55 02:03:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163324.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163325.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 1.62 13.08 4.01 4.12 0 10046.85 02:04:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163326.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163327.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.37 14.25 4.09 4.12 0 16179.16 02:04:02 m : AshtechGps::processRecord() - $GPGGA,163328.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : AshtechGps::processRecord() - $GPGGA,163329.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163330.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163331.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163332.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163333.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 3.19 13.67 4.10 4.12 0 24940.31 02:04:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163334.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163335.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.82 1.62 13.08 4.01 4.12 0 10046.72 02:04:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163336.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163337.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.26 14.25 4.09 4.12 0 16178.76 02:04:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163338.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : AshtechGps::processRecord() - $GPGGA,163339.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163340.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163341.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163342.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163343.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 4.37 13.76 4.10 4.12 0 24939.98 02:04:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163344.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163345.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 1.88 13.08 4.01 4.12 0 10046.52 02:04:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163346.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163347.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.23 14.25 4.09 4.12 0 16178.49 02:04:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163348.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : AshtechGps::processRecord() - $GPGGA,163349.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163350.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163351.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163352.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163353.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.56 13.76 4.10 4.12 0 24939.75 02:04:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163354.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163355.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 1.73 13.08 4.01 4.12 0 10046.39 02:04:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163356.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163357.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 3.52 14.25 4.09 4.12 0 16178.01 02:04:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163358.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163359.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163400.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163401.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163402.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163403.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 3.56 13.57 4.10 4.12 0 24939.37 02:04:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163404.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163405.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 1.91 13.08 4.00 4.12 0 10046.16 02:04:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163406.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163407.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.94 3.62 14.25 4.09 4.11 0 16177.73 02:04:42 m : AshtechGps::processRecord() - $GPGGA,163408.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.063334 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163409.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163410.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163411.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163412.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163413.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.52 13.76 4.10 4.11 0 24939.08 02:04:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163414.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163415.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 1.77 13.08 4.00 4.12 0 10046.00 02:04:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163416.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163417.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.94 3.66 14.25 4.09 4.11 0 16177.26 02:04:52 m : AshtechGps::processRecord() - $GPGGA,163418.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.063334 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163419.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163420.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163421.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163422.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163423.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 3.52 13.67 4.10 4.11 0 24938.68 02:04:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163424.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163425.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 1.77 13.08 4.00 4.12 0 10045.73 02:05:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163426.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163427.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.94 3.52 14.35 4.09 4.11 0 16176.97 02:05:02 m : AshtechGps::processRecord() - $GPGGA,163428.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.063334 : AshtechGps::processRecord() - $GPGGA,163429.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163430.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163431.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163432.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163433.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 4.45 13.57 4.10 4.12 0 24938.42 02:05:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163434.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163435.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 1.95 12.98 4.00 4.12 0 10045.58 02:05:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163436.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163437.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.94 3.52 14.35 4.09 4.11 0 16176.52 02:05:12 m : AshtechGps::processRecord() - $GPGGA,163438.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.063334 : AshtechGps::processRecord() - $GPGGA,163439.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163440.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163441.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163442.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163443.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.41 13.67 4.10 4.12 0 24938.06 02:05:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163444.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163445.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.78 1.91 12.98 4.00 4.12 0 10045.36 02:05:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163446.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163447.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.94 3.52 14.35 4.09 4.11 0 16176.23 02:05:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163448.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.063334 : AshtechGps::processRecord() - $GPGGA,163449.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163450.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163451.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163452.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163453.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.52 13.76 4.10 4.11 0 24937.78 02:05:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163454.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163455.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 1.95 12.98 4.00 4.12 0 10045.21 02:05:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163456.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163457.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.94 3.48 14.35 4.09 4.11 0 16175.81 02:05:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163458.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.063334 : AshtechGps::processRecord() - $GPGGA,163459.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163500.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163501.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163502.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163503.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 3.52 13.76 4.10 4.11 0 24937.41 02:05:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163504.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163505.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 1.84 12.98 4.00 4.12 0 10044.98 02:05:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163506.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163507.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.91 3.88 14.45 4.09 4.11 0 16175.54 02:05:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163508.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.063334 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163509.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163510.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163511.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163512.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163513.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.71 13.76 4.10 4.11 0 24937.17 02:05:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163514.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163515.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 1.77 12.98 4.00 4.12 0 10044.82 02:05:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163516.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163517.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.94 3.44 14.35 4.09 4.11 0 16175.12 02:05:52 m : AshtechGps::processRecord() - $GPGGA,163518.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.063334 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163519.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163520.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163521.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163522.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163523.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 3.48 13.76 4.10 4.11 0 24936.79 02:05:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163524.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163525.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 1.88 12.98 4.00 4.12 0 10044.59 02:06:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163526.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163527.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.94 3.52 14.35 4.09 4.11 0 16174.84 02:06:02 m : AshtechGps::processRecord() - $GPGGA,163528.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.063334 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163529.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163530.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163531.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163532.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.600797 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.600797 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163533.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.22 13.76 4.10 4.11 0 24936.54 02:06:08 m : DepthEnvelope -- Measured altitude 9.600797 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.600797 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.600797 under allowable altitude 10.000000. Stopping! : Isus::select() timeout : DepthEnvelope -- Measured altitude 9.600797 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.600797 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163534.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.891804 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.891804 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.891804 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.891804 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.891804 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163535.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.891804 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.78 1.88 12.98 4.00 4.12 0 10044.43 02:06:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.891804 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.485695 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.485695 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.485695 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163536.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.485695 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.485695 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.485695 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.485695 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.485695 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,163537.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.975604 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.975604 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.02 1.83 14.35 4.09 4.11 0 16174.50 02:06:12 m : DepthEnvelope -- Measured altitude 7.975604 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.975604 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.975604 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163538.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.975604 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.975604 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.063334 : DepthEnvelope -- Measured altitude 7.381707 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.381707 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.381707 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163539.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.381707 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.381707 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.381707 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.381707 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.778654 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163540.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.778654 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.778654 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.778654 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.778654 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.778654 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163541.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.778654 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.778654 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.188491 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.188491 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.188491 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163542.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.188491 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.188491 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.188491 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.188491 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.998044 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163543.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 1.18 13.76 4.10 4.11 0 24936.34 02:06:18 m : DepthEnvelope -- Measured altitude 5.998044 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.998044 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.998044 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.998044 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.998044 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,163544.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.998044 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.792758 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.792758 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.792758 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.792758 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163545.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.792758 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.86 0.46 12.98 4.02 4.13 0 10044.37 02:06:20 m : DepthEnvelope -- Measured altitude 5.792758 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.792758 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.792758 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.814286 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163546.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.814286 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.814286 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.814286 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.814286 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.814286 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163547.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.814286 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.927396 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.02 1.43 14.35 4.10 4.12 0 16174.38 02:06:22 m : DepthEnvelope -- Measured altitude 5.927396 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.927396 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.927396 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163548.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.927396 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.927396 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.073333 : DepthEnvelope -- Measured altitude 5.927396 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.088754 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.088754 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163549.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.088754 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.088754 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.088754 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.088754 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.088754 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163550.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.088754 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.421677 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.421677 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.421677 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.421677 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,163551.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.421677 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.421677 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.421677 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.641640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.641640 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163552.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.641640 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.641640 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.641640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.641640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.641640 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163553.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 1.22 13.67 4.11 4.12 0 24936.24 02:06:28 m : DepthEnvelope -- Measured altitude 6.797974 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.797974 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.797974 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.797974 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.797974 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163554.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.797974 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.797974 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.797974 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.940754 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.940754 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163555.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.940754 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.86 0.50 12.98 4.02 4.13 0 10044.35 02:06:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.940754 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.940754 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.940754 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.940754 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163556.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.021322 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.021322 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.021322 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.021322 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.021322 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163557.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.021322 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.021322 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.02 1.79 14.35 4.10 4.12 0 16174.22 02:06:32 m : DepthEnvelope -- Measured altitude 7.188038 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.188038 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.188038 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,163558.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.188038 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.188038 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : DepthEnvelope -- Measured altitude 7.188038 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.188038 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.188038 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163559.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.447411 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.447411 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.447411 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.447411 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.447411 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163600.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.447411 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.447411 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.499859 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.499859 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.499859 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163601.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.499859 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.499859 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.499859 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.499859 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.499859 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163602.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.684578 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.684578 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.684578 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.684578 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.684578 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163603.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 1.26 13.67 4.11 4.12 0 24936.13 02:06:38 m : DepthEnvelope -- Measured altitude 7.684578 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.684578 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.860171 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.860171 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.860171 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163604.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.860171 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.860171 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.860171 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.860171 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.783961 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,163605.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.783961 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.86 0.39 12.98 4.02 4.13 0 10044.29 02:06:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.783961 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.783961 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.783961 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.783961 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163606.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.783961 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.783961 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.942764 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.942764 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.942764 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163607.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.942764 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.942764 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.02 1.39 14.35 4.10 4.13 0 16174.11 02:06:42 m : DepthEnvelope -- Measured altitude 7.942764 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.942764 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.973289 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163608.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.973289 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.973289 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : DepthEnvelope -- Measured altitude 7.973289 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.973289 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.973289 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163609.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.973289 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.073886 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.073886 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.073886 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.073886 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163610.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.073886 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.073886 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.073886 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.073886 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.245777 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163611.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.245777 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.245777 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.245777 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.245777 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.245777 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,163612.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.245777 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.270424 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.270424 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.270424 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.270424 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163613.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 1.03 13.76 4.11 4.12 0 24936.06 02:06:48 m : DepthEnvelope -- Measured altitude 8.270424 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.270424 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.270424 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.349125 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.349125 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163614.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.349125 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.349125 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.349125 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.349125 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.349125 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163615.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.349125 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.86 0.39 12.98 4.02 4.13 0 10044.25 02:06:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.493868 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.493868 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.493868 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.493868 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163616.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.493868 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.493868 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.493868 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.669080 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.669080 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163617.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.669080 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.669080 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.02 1.36 14.25 4.10 4.13 0 16173.94 02:06:52 m : DepthEnvelope -- Measured altitude 8.669080 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.669080 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.669080 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163618.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.873828 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.873828 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : DepthEnvelope -- Measured altitude 8.873828 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.873828 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.873828 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,163619.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.873828 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.873828 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.873828 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.160313 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.160313 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163620.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.160313 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.160313 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.160313 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.160313 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.160313 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163621.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.379852 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.379852 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.379852 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.379852 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.379852 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163622.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.379852 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.379852 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.539390 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.539390 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.539390 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163623.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 1.00 13.67 4.11 4.12 0 24935.95 02:06:58 m : DepthEnvelope -- Measured altitude 9.539390 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.539390 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.539390 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.539390 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.539390 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163624.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.889319 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.889319 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.889319 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.889319 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.889319 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163625.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.889319 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.86 0.35 12.98 4.02 4.13 0 10044.21 02:07:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.889319 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.962357 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.962357 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.962357 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,163626.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.962357 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.962357 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.962357 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.962357 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.962357 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163627.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 10.352694 over abort altitude 10.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 33.02 1.43 14.25 4.10 4.13 0 16173.83 02:07:02 m : AshtechGps::processRecord() - $GPGGA,163628.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163629.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163630.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163631.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163632.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163633.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.00 13.57 4.11 4.12 0 24935.87 02:07:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163634.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163635.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 2.02 12.98 4.02 4.13 0 10044.12 02:07:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163636.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163637.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.91 4.06 14.25 4.10 4.13 0 16173.48 02:07:12 m : AshtechGps::processRecord() - $GPGGA,163638.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.076666 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163639.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163640.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163641.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163642.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163643.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 3.63 13.67 4.11 4.12 0 24935.49 02:07:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163644.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163645.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.74 2.10 12.98 4.00 4.12 0 10043.87 02:07:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163646.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163647.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.94 3.95 14.25 4.09 4.11 0 16173.18 02:07:22 m : AshtechGps::processRecord() - $GPGGA,163648.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.066667 : AshtechGps::processRecord() - $GPGGA,163649.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163650.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163651.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163652.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163653.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 3.71 13.67 4.10 4.11 0 24935.23 02:07:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163654.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163655.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 1.88 12.98 4.00 4.12 0 10043.72 02:07:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163656.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163657.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.94 3.44 14.25 4.09 4.11 0 16172.75 02:07:32 m : AshtechGps::processRecord() - $GPGGA,163658.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.063334 : AshtechGps::processRecord() - $GPGGA,163659.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163700.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163701.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163702.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163703.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.19 13.67 4.10 4.11 0 24934.87 02:07:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163704.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163705.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.74 1.99 12.98 4.00 4.12 0 10043.50 02:07:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163706.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163707.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.94 3.70 14.25 4.09 4.11 0 16172.46 02:07:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163708.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.063334 : AshtechGps::processRecord() - $GPGGA,163709.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163710.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163711.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163712.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163713.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.33 13.57 4.10 4.11 0 24934.63 02:07:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163714.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163715.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.74 1.99 12.98 4.00 4.12 0 10043.37 02:07:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163716.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163717.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.94 3.52 14.25 4.09 4.11 0 16172.07 02:07:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163718.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.063334 : AshtechGps::processRecord() - $GPGGA,163719.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163720.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163721.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163722.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163723.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.15 13.57 4.10 4.11 0 24934.27 02:07:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163724.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163725.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.74 1.95 12.98 4.00 4.12 0 10043.16 02:08:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163726.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163727.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.94 3.30 14.25 4.09 4.11 0 16171.79 02:08:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163728.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.063334 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163729.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163730.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163731.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163732.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163733.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.30 13.67 4.10 4.11 0 24934.03 02:08:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163734.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163735.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 1.77 12.98 4.00 4.12 0 10043.02 02:08:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163736.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163737.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.98 3.23 14.25 4.09 4.11 0 16171.35 02:08:12 m : AshtechGps::processRecord() - $GPGGA,163738.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.063334 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163739.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163740.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163741.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163742.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163743.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.30 13.57 4.10 4.11 0 24933.67 02:08:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163744.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163745.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 1.91 12.98 4.00 4.12 0 10042.82 02:08:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163746.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163747.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.94 3.37 14.16 4.09 4.11 0 16171.10 02:08:22 m : AshtechGps::processRecord() - $GPGGA,163748.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.063334 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163749.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163750.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163751.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163752.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163753.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 3.41 13.57 4.10 4.11 0 24933.44 02:08:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163754.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163755.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.74 1.91 12.98 4.00 4.12 0 10042.68 02:08:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163756.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163757.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.94 3.66 14.25 4.09 4.11 0 16170.70 02:08:32 m : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,163758.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.063334 : AshtechGps::processRecord() - $GPGGA,163759.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163800.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163801.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163802.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163803.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.30 13.47 4.10 4.11 0 24933.09 02:08:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163804.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163805.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.74 1.91 12.98 4.00 4.12 0 10042.47 02:08:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163806.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163807.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.94 3.80 14.16 4.08 4.11 0 16170.44 02:08:42 m : AshtechGps::processRecord() - $GPGGA,163808.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.060000 : AshtechGps::processRecord() - $GPGGA,163809.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163810.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163811.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163812.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163813.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.67 13.57 4.10 4.11 0 24932.83 02:08:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163814.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163815.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.74 2.02 12.98 4.00 4.12 0 10042.32 02:08:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163816.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163817.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.91 3.91 14.16 4.08 4.11 0 16170.00 02:08:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163818.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.060000 : AshtechGps::processRecord() - $GPGGA,163819.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163820.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163821.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163822.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163823.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 3.63 13.57 4.10 4.11 0 24932.44 02:08:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163824.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163825.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 2.64 12.98 4.00 4.11 0 10042.09 02:09:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163826.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163827.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.91 3.66 14.25 4.08 4.11 0 16169.71 02:09:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163828.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.060000 : AshtechGps::processRecord() - $GPGGA,163829.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163830.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163831.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163832.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163833.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 3.59 13.57 4.09 4.11 0 24932.11 02:09:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163834.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163835.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.74 1.99 12.98 4.00 4.11 0 10041.93 02:09:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163836.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163837.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.91 3.73 14.25 4.08 4.11 0 16169.27 02:09:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163838.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163839.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163840.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163841.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163842.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163843.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.67 13.57 4.09 4.11 0 24931.73 02:09:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163844.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163845.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 2.06 12.98 4.00 4.12 0 10041.67 02:09:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163846.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163847.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.91 3.80 14.25 4.08 4.11 0 16168.99 02:09:22 m : AshtechGps::processRecord() - $GPGGA,163848.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163849.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163850.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163851.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163852.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163853.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 4.45 13.57 4.10 4.11 0 24931.47 02:09:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163854.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163855.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.74 2.17 12.98 4.00 4.12 0 10041.52 02:09:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163856.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163857.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.94 3.52 14.25 4.08 4.11 0 16168.58 02:09:32 m : AshtechGps::processRecord() - $GPGGA,163858.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.060000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163859.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163900.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163901.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163902.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163903.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 3.41 13.67 4.10 4.11 0 24931.10 02:09:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163904.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163905.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.74 1.88 12.89 4.00 4.11 0 10041.30 02:09:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163906.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163907.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.91 3.91 14.25 4.08 4.11 0 16168.30 02:09:42 m : AshtechGps::processRecord() - $GPGGA,163908.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.060000 : AshtechGps::processRecord() - $GPGGA,163909.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163910.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163911.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163912.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163913.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 3.26 13.67 4.10 4.11 0 24930.85 02:09:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163914.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163915.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 2.17 12.89 4.00 4.11 0 10041.14 02:09:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163916.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163917.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.94 3.59 14.25 4.08 4.11 0 16167.88 02:09:52 m : AshtechGps::processRecord() - $GPGGA,163918.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.060000 : AshtechGps::processRecord() - $GPGGA,163919.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163920.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163921.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163922.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163923.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.82 13.57 4.10 4.11 0 24930.49 02:09:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163924.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163925.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.70 2.02 12.98 4.00 4.11 0 10040.89 02:10:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163926.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163927.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.91 3.62 14.25 4.08 4.11 0 16167.60 02:10:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163928.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.060000 : AshtechGps::processRecord() - $GPGGA,163929.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163930.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163931.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163932.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163933.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.93 13.57 4.10 4.11 0 24930.23 02:10:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163934.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163935.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 2.17 12.98 4.00 4.11 0 10040.74 02:10:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163936.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163937.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.94 3.73 14.25 4.08 4.11 0 16167.17 02:10:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163938.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.060000 : AshtechGps::processRecord() - $GPGGA,163939.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163940.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163941.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163942.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163943.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 3.52 13.57 4.10 4.11 0 24929.85 02:10:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163944.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163945.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.74 2.10 12.89 4.00 4.11 0 10040.51 02:10:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163946.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163947.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.87 3.91 14.25 4.08 4.11 0 16166.89 02:10:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,163948.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.854620 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.060000 : DepthEnvelope -- Measured altitude 9.854620 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.854620 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.854620 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,163949.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.854620 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.854620 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.854620 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.306485 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.306485 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163950.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.306485 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.306485 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.306485 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.306485 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.306485 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163951.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.959509 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.959509 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.959509 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.959509 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.959509 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163952.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.959509 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.959509 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.959509 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.595205 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.595205 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163953.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 0.89 13.67 4.09 4.10 0 24929.60 02:10:28 m : DepthEnvelope -- Measured altitude 8.595205 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.595205 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.595205 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.595205 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.595205 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163954.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.813816 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.813816 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.813816 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.813816 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.813816 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163955.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.813816 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.86 0.50 12.98 4.00 4.11 0 10040.42 02:10:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.813816 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.079566 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.079566 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.079566 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,163956.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.079566 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.079566 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.079566 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.079566 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.079566 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163957.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.509181 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.509181 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.98 1.43 14.25 4.08 4.11 0 16166.62 02:10:32 m : DepthEnvelope -- Measured altitude 6.509181 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.509181 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.509181 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163958.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.509181 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.509181 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : DepthEnvelope -- Measured altitude 6.105171 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.105171 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.105171 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163959.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.105171 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.105171 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.105171 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.105171 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.854276 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164000.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.854276 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.854276 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.854276 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.854276 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.854276 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164001.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.854276 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.854276 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.676507 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.676507 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.676507 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164002.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.676507 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.676507 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.676507 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.676507 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.837296 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164003.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 1.11 13.76 4.09 4.10 0 24929.49 02:10:38 m : DepthEnvelope -- Measured altitude 5.837296 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.837296 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.837296 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.837296 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.837296 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164004.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.837296 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.837296 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.019395 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.019395 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.019395 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164005.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.019395 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.82 0.46 12.89 4.01 4.12 0 10040.35 02:10:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.019395 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.019395 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.019395 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.236040 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164006.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.236040 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.236040 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.236040 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.236040 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.236040 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164007.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.236040 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.475694 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.98 1.61 14.25 4.10 4.12 0 16166.49 02:10:42 m : DepthEnvelope -- Measured altitude 6.475694 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.475694 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.475694 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164008.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.475694 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.475694 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : DepthEnvelope -- Measured altitude 6.475694 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.475694 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.660720 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164009.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.660720 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.660720 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.660720 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.660720 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.660720 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164010.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.660720 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.895583 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.895583 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.895583 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.895583 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164011.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.895583 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.895583 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.895583 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.972982 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.972982 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164012.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.972982 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.972982 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.972982 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.972982 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.972982 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164013.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 1.92 13.67 4.11 4.12 0 24929.41 02:10:48 m : DepthEnvelope -- Measured altitude 6.972982 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.128005 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.128005 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.128005 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.128005 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164014.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.128005 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.128005 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.128005 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.338953 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.338953 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164015.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.338953 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.82 0.65 12.89 4.01 4.12 0 10040.31 02:10:50 m : DepthEnvelope -- Measured altitude 7.338953 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.338953 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.338953 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.338953 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164016.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.532804 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.532804 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.532804 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.532804 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.532804 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164017.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.532804 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.532804 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.98 1.57 14.25 4.10 4.12 0 16166.29 02:10:52 m : DepthEnvelope -- Measured altitude 7.532804 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.665614 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.665614 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164018.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.665614 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.665614 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.073334 : DepthEnvelope -- Measured altitude 7.665614 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.665614 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.665614 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164019.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.829901 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.829901 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.829901 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.829901 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.829901 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164020.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.829901 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.829901 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.829901 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.850501 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.850501 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164021.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.850501 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.850501 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.850501 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.850501 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.850501 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164022.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.955028 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.955028 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.955028 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.955028 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.955028 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164023.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 1.07 13.57 4.11 4.12 0 24929.29 02:10:58 m : DepthEnvelope -- Measured altitude 7.955028 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.955028 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.021099 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.021099 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.021099 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164024.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.021099 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.021099 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.021099 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.021099 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.021099 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164025.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.010809 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.86 0.39 12.89 4.01 4.12 0 10040.22 02:11:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.010809 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.010809 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.010809 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.010809 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164026.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.010809 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.010809 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.185243 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.185243 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.185243 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164027.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.185243 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.185243 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.98 1.65 14.25 4.10 4.12 0 16166.16 02:11:02 m : DepthEnvelope -- Measured altitude 8.185243 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.185243 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.280513 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164028.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.280513 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.280513 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.073334 : DepthEnvelope -- Measured altitude 8.280513 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.280513 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.280513 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164029.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.280513 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.280513 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.343502 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.343502 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.343502 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164030.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.343502 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.343502 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.343502 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.343502 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.479762 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164031.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.479762 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.479762 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.479762 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.479762 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.479762 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164032.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.479762 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.479762 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.793422 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.793422 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.793422 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164033.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 1.70 13.57 4.11 4.12 0 24929.22 02:11:08 m : DepthEnvelope -- Measured altitude 8.793422 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.793422 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.793422 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.793422 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.903961 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164034.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.903961 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.903961 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.903961 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.903961 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.903961 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164035.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.903961 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.86 0.46 12.89 4.01 4.12 0 10040.19 02:11:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.062018 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.062018 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.062018 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.062018 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164036.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.062018 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.062018 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.062018 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.062018 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.381159 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164037.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.381159 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.381159 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 33.02 1.39 14.25 4.10 4.12 0 16166.00 02:11:12 m : DepthEnvelope -- Measured altitude 9.381159 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.381159 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.381159 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164038.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.381159 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.634926 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.073334 : DepthEnvelope -- Measured altitude 9.634926 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.634926 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.634926 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164039.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.634926 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.634926 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.634926 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.745565 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.745565 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164040.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.745565 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.745565 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.745565 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.745565 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.745565 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164041.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.745565 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.916813 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.916813 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.916813 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.916813 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164042.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.916813 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.916813 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.916813 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.186158 over abort altitude 10.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,164043.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 1.22 13.57 4.11 4.12 0 24929.10 02:11:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164044.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164045.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.82 0.94 12.89 4.01 4.12 0 10040.12 02:11:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164046.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164047.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.98 2.69 14.25 4.10 4.12 0 16165.88 02:11:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164048.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.073334 : AshtechGps::processRecord() - $GPGGA,164049.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164050.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164051.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164052.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,164053.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 3.89 13.57 4.11 4.12 0 24928.94 02:11:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164054.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164055.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 2.17 12.89 4.01 4.12 0 10039.96 02:11:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164056.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164057.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.91 4.02 14.25 4.10 4.12 0 16165.42 02:11:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164058.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.073334 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164059.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164100.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164101.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164102.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164103.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 4.12 13.57 4.11 4.12 0 24928.51 02:11:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164104.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164105.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.70 2.13 12.98 4.00 4.11 0 10039.71 02:11:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164106.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164107.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.91 3.62 14.25 4.08 4.11 0 16165.14 02:11:42 m : AshtechGps::processRecord() - $GPGGA,164108.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.063334 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164109.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164110.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164111.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164112.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164113.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 3.30 13.57 4.10 4.11 0 24928.27 02:11:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164114.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164115.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.74 1.81 12.89 4.00 4.11 0 10039.56 02:11:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164116.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164117.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.91 3.59 14.16 4.08 4.11 0 16164.69 02:11:52 m : AshtechGps::processRecord() - $GPGGA,164118.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.060000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164119.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164120.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164121.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164122.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164123.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.33 13.57 4.10 4.11 0 24927.92 02:11:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164124.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164125.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 2.06 12.89 4.00 4.11 0 10039.36 02:12:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164126.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164127.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.87 3.77 14.16 4.08 4.11 0 16164.43 02:12:02 m : AshtechGps::processRecord() - $GPGGA,164128.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.060000 : AshtechGps::processRecord() - $GPGGA,164129.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164130.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164131.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164132.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164133.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.37 13.47 4.10 4.10 0 24927.69 02:12:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164134.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164135.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.74 2.24 12.89 4.00 4.11 0 10039.22 02:12:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164136.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164137.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.91 3.66 14.16 4.08 4.11 0 16164.03 02:12:12 m : AshtechGps::processRecord() - $GPGGA,164138.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.060000 : AshtechGps::processRecord() - $GPGGA,164139.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164140.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164141.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164142.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164143.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.22 13.57 4.10 4.10 0 24927.36 02:12:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164144.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164145.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.70 2.02 12.89 4.00 4.11 0 10039.01 02:12:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164146.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164147.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.91 3.73 14.06 4.08 4.11 0 16163.73 02:12:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164148.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.060000 : AshtechGps::processRecord() - $GPGGA,164149.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164150.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164151.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164152.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164153.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.11 13.57 4.10 4.10 0 24927.13 02:12:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164154.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164155.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.74 1.81 12.98 4.00 4.11 0 10038.88 02:12:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164156.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164157.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.91 3.62 14.06 4.08 4.11 0 16163.34 02:12:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164158.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.060000 : AshtechGps::processRecord() - $GPGGA,164159.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164200.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164201.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164202.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164203.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.30 13.57 4.10 4.10 0 24926.77 02:12:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164204.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164205.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.74 1.95 12.89 4.00 4.11 0 10038.69 02:12:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164206.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164207.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.91 3.77 14.06 4.08 4.11 0 16163.09 02:12:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164208.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.060000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164209.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164210.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164211.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164212.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164213.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.26 13.57 4.10 4.11 0 24926.56 02:12:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164214.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164215.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.74 1.77 12.89 4.00 4.11 0 10038.56 02:12:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164216.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164217.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.87 4.13 14.06 4.08 4.11 0 16162.67 02:12:52 m : AshtechGps::processRecord() - $GPGGA,164218.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.060000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164219.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164220.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164221.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164222.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164223.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 3.15 13.47 4.10 4.11 0 24926.22 02:12:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164224.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164225.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.74 1.95 12.89 4.00 4.11 0 10038.36 02:13:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164226.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164227.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.91 3.77 14.06 4.08 4.11 0 16162.37 02:13:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164228.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.060000 : AshtechGps::processRecord() - $GPGGA,164229.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164230.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164231.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164232.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164233.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.30 13.37 4.10 4.11 0 24925.94 02:13:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164234.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164235.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 2.35 12.89 4.00 4.11 0 10038.21 02:13:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164236.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164237.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.87 3.73 14.06 4.08 4.11 0 16161.94 02:13:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164238.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.060000 : AshtechGps::processRecord() - $GPGGA,164239.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164240.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164241.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164242.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164243.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 3.30 13.47 4.10 4.11 0 24925.56 02:13:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164244.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164245.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 2.24 12.89 4.00 4.11 0 10037.94 02:13:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164246.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164247.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.83 4.13 14.06 4.08 4.11 0 16161.65 02:13:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164248.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.060000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164249.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164250.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164251.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164252.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164253.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 3.26 13.47 4.09 4.10 0 24925.31 02:13:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164254.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164255.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.70 2.13 12.89 4.00 4.11 0 10037.80 02:13:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164256.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164257.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.87 3.98 14.16 4.08 4.11 0 16161.24 02:13:32 m : AshtechGps::processRecord() - $GPGGA,164258.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164259.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164300.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164301.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164302.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164303.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 3.48 13.47 4.09 4.10 0 24924.93 02:13:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164304.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164305.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.70 2.31 12.89 4.00 4.11 0 10037.58 02:13:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164306.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164307.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.87 3.80 14.16 4.08 4.11 0 16160.96 02:13:42 m : AshtechGps::processRecord() - $GPGGA,164308.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164309.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164310.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164311.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164312.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164313.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 3.37 13.47 4.09 4.10 0 24924.67 02:13:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164314.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164315.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 2.17 12.79 4.00 4.11 0 10037.43 02:13:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164316.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164317.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.87 3.66 14.16 4.08 4.11 0 16160.54 02:13:52 m : AshtechGps::processRecord() - $GPGGA,164318.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : AshtechGps::processRecord() - $GPGGA,164319.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164320.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164321.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164322.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164323.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 3.41 13.47 4.09 4.10 0 24924.27 02:13:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164324.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164325.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 2.10 12.89 4.00 4.11 0 10037.21 02:14:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164326.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164327.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.87 3.91 14.25 4.08 4.10 0 16160.26 02:14:02 m : AshtechGps::processRecord() - $GPGGA,164328.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : AshtechGps::processRecord() - $GPGGA,164329.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164330.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164331.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164332.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164333.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.44 13.47 4.09 4.10 0 24924.04 02:14:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164334.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164335.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.70 1.99 12.79 4.00 4.11 0 10037.07 02:14:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164336.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164337.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.87 3.80 14.16 4.08 4.10 0 16159.86 02:14:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164338.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : AshtechGps::processRecord() - $GPGGA,164339.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164340.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164341.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164342.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164343.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.11 13.57 4.09 4.10 0 24923.65 02:14:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164344.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164345.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 1.99 12.79 4.00 4.11 0 10036.86 02:14:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164346.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164347.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.87 3.95 14.16 4.08 4.11 0 16159.58 02:14:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164348.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : AshtechGps::processRecord() - $GPGGA,164349.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164350.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164351.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164352.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164353.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 3.56 13.47 4.09 4.10 0 24923.39 02:14:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164354.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164355.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 2.06 12.79 4.00 4.11 0 10036.69 02:14:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164356.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164357.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.87 3.95 14.25 4.08 4.11 0 16159.15 02:14:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164358.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164359.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164400.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164401.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164402.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164403.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 3.48 13.57 4.09 4.10 0 24922.98 02:14:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164404.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164405.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 2.13 12.79 4.00 4.11 0 10036.47 02:14:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164406.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164407.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.87 3.66 14.16 4.08 4.11 0 16158.86 02:14:42 m : AshtechGps::processRecord() - $GPGGA,164408.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164409.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164410.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164411.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164412.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164413.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 3.37 13.57 4.09 4.10 0 24922.74 02:14:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164414.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.917555 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.917555 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.917555 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.917555 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164415.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.917555 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.70 2.13 12.89 4.00 4.11 0 10036.34 02:14:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.917555 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.917555 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.263888 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.263888 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164416.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.263888 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.263888 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.263888 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.263888 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.263888 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164417.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.887348 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.887348 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.91 2.62 14.25 4.08 4.11 0 16158.46 02:14:52 m : DepthEnvelope -- Measured altitude 8.887348 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.887348 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.887348 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164418.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.887348 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.887348 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : DepthEnvelope -- Measured altitude 8.887348 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.227784 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.227784 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164419.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.227784 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.227784 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.227784 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.227784 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.227784 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164420.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.557413 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.557413 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.557413 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.557413 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.557413 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164421.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.557413 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.557413 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.557413 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.924321 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.924321 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164422.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.924321 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.924321 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.924321 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.924321 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.924321 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164423.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 1.03 13.47 4.09 4.10 0 24922.46 02:14:58 m : DepthEnvelope -- Measured altitude 6.415175 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.415175 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.415175 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.415175 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.415175 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164424.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.415175 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.415175 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.245264 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.245264 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.245264 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164425.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.245264 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.78 1.01 12.89 4.01 4.12 0 10036.24 02:15:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.245264 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.245264 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.245264 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.245264 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164426.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.216056 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.216056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.216056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.216056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.216056 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164427.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.216056 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.216056 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.98 1.43 14.16 4.10 4.12 0 16158.36 02:15:02 m : DepthEnvelope -- Measured altitude 6.363968 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.363968 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.363968 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164428.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.363968 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.363968 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : DepthEnvelope -- Measured altitude 6.363968 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.363968 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.601983 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164429.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.601983 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.601983 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.601983 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.601983 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.601983 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164430.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.601983 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.601983 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.087570 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.087570 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.087570 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164431.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.087570 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.087570 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.087570 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.087570 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.358427 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164432.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.358427 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.358427 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.358427 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.358427 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.358427 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164433.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 1.14 13.57 4.10 4.12 0 24922.37 02:15:08 m : DepthEnvelope -- Measured altitude 7.358427 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.547115 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.547115 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.547115 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.547115 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164434.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.547115 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.547115 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.547115 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.547115 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.718325 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164435.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.718325 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.82 0.43 12.79 4.01 4.12 0 10036.20 02:15:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.718325 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.718325 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.718325 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.718325 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164436.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.718325 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.929032 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.929032 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.929032 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.929032 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164437.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.929032 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.929032 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.98 1.76 14.16 4.10 4.12 0 16158.18 02:15:12 m : DepthEnvelope -- Measured altitude 7.929032 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.046867 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.046867 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164438.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.046867 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.046867 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.070000 : DepthEnvelope -- Measured altitude 8.046867 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.046867 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.046867 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164439.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.046867 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.255107 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.255107 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.255107 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.255107 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164440.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.255107 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.255107 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.255107 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.366301 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.366301 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164441.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.366301 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.366301 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.366301 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.366301 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.366301 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164442.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.654584 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.654584 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.654584 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.654584 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.654584 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164443.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 1.41 13.57 4.10 4.12 0 24922.21 02:15:18 m : DepthEnvelope -- Measured altitude 8.654584 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.654584 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.654584 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.697692 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.697692 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164444.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.697692 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.697692 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.697692 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.697692 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.697692 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164445.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.970327 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.82 0.68 12.79 4.01 4.12 0 10036.15 02:15:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.970327 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.970327 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.970327 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.970327 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164446.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.970327 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.970327 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.057158 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.057158 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.057158 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164447.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.057158 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.057158 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.98 1.36 14.16 4.10 4.12 0 16158.08 02:15:22 m : DepthEnvelope -- Measured altitude 9.057158 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.057158 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.057158 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164448.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.797423 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.797423 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.070000 : DepthEnvelope -- Measured altitude 8.797423 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.797423 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.797423 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164449.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.797423 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.797423 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.805846 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.805846 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.805846 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164450.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.805846 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.805846 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.805846 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.805846 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.805846 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164451.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.686864 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.686864 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.686864 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.686864 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.686864 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164452.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.686864 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.686864 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.742328 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.742328 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.742328 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164453.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.82 0.96 13.47 4.10 4.12 0 24922.12 02:15:28 m : DepthEnvelope -- Measured altitude 8.742328 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.742328 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.742328 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.742328 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.945492 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164454.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.945492 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.945492 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.945492 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.945492 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.945492 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164455.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.945492 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.82 0.68 12.79 4.01 4.12 0 10036.12 02:15:30 m : DepthEnvelope -- Measured altitude 8.945492 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.843796 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.843796 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.843796 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164456.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.843796 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.843796 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.843796 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.843796 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.240851 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164457.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.240851 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.240851 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.98 1.36 14.16 4.10 4.12 0 16157.93 02:15:32 m : DepthEnvelope -- Measured altitude 9.240851 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.240851 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.240851 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164458.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.240851 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.325966 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.070000 : DepthEnvelope -- Measured altitude 9.325966 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.325966 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.325966 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164459.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.325966 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.325966 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.325966 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.325966 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.577475 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164500.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.577475 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.577475 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.577475 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.577475 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.577475 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164501.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.577475 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- altitude 10.053154 over abort altitude 10.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164502.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164503.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 0.96 13.57 4.10 4.12 0 24922.01 02:15:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164504.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164505.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.78 0.97 12.79 4.01 4.12 0 10036.06 02:15:40 m : AshtechGps::processRecord() - $GPGGA,164506.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164507.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.94 3.30 14.06 4.10 4.12 0 16157.82 02:15:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164508.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.070000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164509.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164510.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164511.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164512.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164513.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 3.67 13.47 4.10 4.12 0 24921.85 02:15:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164514.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164515.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 2.42 12.79 4.01 4.12 0 10035.91 02:15:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164516.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164517.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.87 3.80 14.06 4.10 4.12 0 16157.38 02:15:52 m : AshtechGps::processRecord() - $GPGGA,164518.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.070000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164519.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164520.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164521.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164522.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164523.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.56 13.47 4.10 4.12 0 24921.44 02:15:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164524.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164525.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 1.91 12.89 4.00 4.11 0 10035.65 02:16:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164526.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164527.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.87 3.98 14.06 4.08 4.11 0 16157.09 02:16:02 m : AshtechGps::processRecord() - $GPGGA,164528.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.060000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164529.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164530.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164531.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164532.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164533.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.67 13.37 4.09 4.10 0 24921.20 02:16:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164534.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164535.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 2.13 12.79 4.00 4.11 0 10035.51 02:16:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164536.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164537.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.91 3.44 14.06 4.08 4.11 0 16156.69 02:16:12 m : AshtechGps::processRecord() - $GPGGA,164538.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : AshtechGps::processRecord() - $GPGGA,164539.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164540.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164541.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164542.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164543.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.48 13.47 4.09 4.10 0 24920.84 02:16:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164544.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164545.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 2.06 12.79 4.00 4.11 0 10035.27 02:16:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164546.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164547.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.91 3.26 14.06 4.08 4.11 0 16156.42 02:16:22 m : AshtechGps::processRecord() - $GPGGA,164548.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : AshtechGps::processRecord() - $GPGGA,164549.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164550.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164551.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164552.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164553.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 3.15 13.47 4.09 4.10 0 24920.61 02:16:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164554.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164555.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.70 1.81 12.79 4.00 4.11 0 10035.14 02:16:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164556.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164557.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.87 3.26 14.06 4.08 4.11 0 16156.01 02:16:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164558.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : AshtechGps::processRecord() - $GPGGA,164559.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164600.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164601.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164602.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164603.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 3.22 13.37 4.09 4.10 0 24920.26 02:16:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164604.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164605.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 1.95 12.79 4.00 4.11 0 10034.94 02:16:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164606.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164607.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.87 3.37 14.06 4.08 4.10 0 16155.76 02:16:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164608.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : AshtechGps::processRecord() - $GPGGA,164609.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164610.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164611.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164612.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164613.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.71 13.28 4.09 4.10 0 24920.01 02:16:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164614.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164615.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 2.06 12.79 4.00 4.11 0 10034.79 02:16:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164616.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164617.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.91 3.34 13.96 4.08 4.10 0 16155.35 02:16:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164618.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164619.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164620.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164621.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164622.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164623.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.71 13.37 4.09 4.10 0 24919.66 02:16:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164624.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164625.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 2.02 12.79 4.00 4.11 0 10034.56 02:17:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164626.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164627.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.87 3.62 13.96 4.08 4.11 0 16155.10 02:17:02 m : AshtechGps::processRecord() - $GPGGA,164628.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164629.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164630.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164631.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164632.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164633.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 4.00 13.37 4.09 4.10 0 24919.43 02:17:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164634.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164635.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.74 1.81 12.79 4.00 4.11 0 10034.43 02:17:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164636.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164637.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.87 3.66 13.96 4.08 4.11 0 16154.70 02:17:12 m : AshtechGps::processRecord() - $GPGGA,164638.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164639.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164640.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164641.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,164642.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164643.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 3.26 13.37 4.09 4.10 0 24919.07 02:17:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164644.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164645.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 1.88 12.79 4.00 4.11 0 10034.22 02:17:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164646.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164647.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.91 3.34 13.96 4.08 4.11 0 16154.46 02:17:22 m : AshtechGps::processRecord() - $GPGGA,164648.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : AshtechGps::processRecord() - $GPGGA,164649.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164650.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164651.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164652.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164653.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 3.33 13.28 4.09 4.10 0 24918.82 02:17:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164654.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164655.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 2.06 12.79 4.00 4.11 0 10034.07 02:17:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164656.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164657.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.87 3.88 13.96 4.08 4.11 0 16154.04 02:17:32 m : AshtechGps::processRecord() - $GPGGA,164658.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : AshtechGps::processRecord() - $GPGGA,164659.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164700.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164701.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164702.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164703.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.75 13.37 4.09 4.10 0 24918.44 02:17:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164704.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164705.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.70 1.84 12.79 4.00 4.11 0 10033.80 02:17:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164706.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164707.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.83 4.56 13.96 4.08 4.10 0 16153.77 02:17:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164708.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : AshtechGps::processRecord() - $GPGGA,164709.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164710.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164711.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164712.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164713.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 4.64 13.37 4.09 4.10 0 24918.16 02:17:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164714.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164715.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 2.21 12.79 4.00 4.11 0 10033.63 02:17:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164716.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164717.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.87 3.55 13.96 4.08 4.10 0 16153.34 02:17:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164718.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : AshtechGps::processRecord() - $GPGGA,164719.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164720.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164721.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164722.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164723.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 4.56 13.37 4.09 4.10 0 24917.79 02:17:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164724.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164725.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 2.13 12.79 4.00 4.11 0 10033.39 02:18:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164726.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164727.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.87 3.66 14.06 4.08 4.10 0 16153.05 02:18:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164728.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164729.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164730.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164731.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164732.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164733.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.37 13.37 4.09 4.10 0 24917.55 02:18:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164734.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164735.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 2.28 12.79 4.00 4.11 0 10033.23 02:18:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164736.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164737.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.83 3.70 14.06 4.08 4.10 0 16152.58 02:18:12 m : AshtechGps::processRecord() - $GPGGA,164738.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164739.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164740.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164741.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164742.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164743.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 3.67 13.37 4.09 4.10 0 24917.16 02:18:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164744.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164745.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.70 2.02 12.69 4.00 4.11 0 10033.01 02:18:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164746.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164747.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.87 3.52 14.06 4.08 4.10 0 16152.31 02:18:22 m : AshtechGps::processRecord() - $GPGGA,164748.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164749.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164750.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164751.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164752.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164753.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.85 13.47 4.09 4.10 0 24916.90 02:18:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164754.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164755.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 2.02 12.69 4.00 4.11 0 10032.86 02:18:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164756.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164757.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.83 3.84 14.06 4.08 4.10 0 16151.88 02:18:32 m : AshtechGps::processRecord() - $GPGGA,164758.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : AshtechGps::processRecord() - $GPGGA,164759.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164800.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164801.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164802.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164803.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 3.63 13.37 4.09 4.10 0 24916.53 02:18:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164804.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164805.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 1.99 12.69 4.00 4.11 0 10032.58 02:18:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164806.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164807.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.83 3.59 14.06 4.08 4.10 0 16151.61 02:18:42 m : AshtechGps::processRecord() - $GPGGA,164808.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : AshtechGps::processRecord() - $GPGGA,164809.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164810.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164811.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164812.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164813.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 3.71 13.47 4.09 4.10 0 24916.30 02:18:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164814.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164815.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.66 2.13 12.79 4.00 4.11 0 10032.42 02:18:50 m : AshtechGps::processRecord() - $GPGGA,164816.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164817.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 4.02 14.06 4.08 4.10 0 16151.17 02:18:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164818.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : AshtechGps::processRecord() - $GPGGA,164819.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164820.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164821.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164822.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164823.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.52 13.37 4.09 4.10 0 24915.94 02:18:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164824.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164825.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 2.06 12.79 4.00 4.10 0 10032.20 02:19:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164826.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164827.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.83 3.95 14.06 4.08 4.10 0 16150.89 02:19:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164828.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : AshtechGps::processRecord() - $GPGGA,164829.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164830.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164831.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164832.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164833.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.26 13.47 4.09 4.10 0 24915.68 02:19:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164834.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164835.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 2.17 12.79 4.00 4.10 0 10032.05 02:19:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164836.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164837.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.87 3.44 14.06 4.08 4.10 0 16150.49 02:19:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164838.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164839.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164840.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164841.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164842.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164843.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 3.85 13.47 4.09 4.10 0 24915.32 02:19:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164844.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : DepthEnvelope -- Measured altitude 9.666055 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.666055 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164845.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.666055 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.66 2.21 12.69 4.00 4.11 0 10031.81 02:19:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.666055 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.666055 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.666055 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.666055 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164846.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.112952 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.112952 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.112952 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.112952 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.112952 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164847.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.112952 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.112952 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.83 3.62 14.06 4.08 4.10 0 16150.21 02:19:22 m : DepthEnvelope -- Measured altitude 9.112952 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.684043 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.684043 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164848.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.684043 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.684043 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : DepthEnvelope -- Measured altitude 8.684043 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.684043 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.684043 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164849.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.228555 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.228555 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.228555 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.228555 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.228555 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164850.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.228555 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.228555 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.555007 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.555007 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.555007 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164851.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.555007 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.555007 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.555007 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.555007 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.555007 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164852.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.915470 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.915470 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.915470 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.915470 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.915470 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164853.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 1.44 13.47 4.09 4.10 0 24915.16 02:19:28 m : DepthEnvelope -- Measured altitude 6.915470 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.915470 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.234750 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.234750 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.234750 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164854.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.234750 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.234750 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.234750 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.234750 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.913540 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164855.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.913540 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.78 0.68 12.79 4.00 4.11 0 10031.76 02:19:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.913540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.913540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.913540 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.913540 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164856.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.913540 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.913540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.660834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.660834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.660834 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164857.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.660834 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.660834 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.94 1.36 14.06 4.08 4.10 0 16150.00 02:19:32 m : DepthEnvelope -- Measured altitude 5.660834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.660834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.711458 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164858.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.711458 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.711458 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : DepthEnvelope -- Measured altitude 5.711458 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.711458 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.711458 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164859.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.711458 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.649000 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.649000 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.649000 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.649000 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164900.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.649000 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.649000 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.649000 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.649000 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.933121 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164901.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.933121 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.933121 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.933121 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.933121 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.933121 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164902.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.933121 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.139161 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.139161 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.139161 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.139161 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164903.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 1.48 13.37 4.09 4.10 0 24915.04 02:19:38 m : DepthEnvelope -- Measured altitude 6.139161 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.139161 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.139161 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.455325 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.455325 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164904.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.455325 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.455325 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.455325 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.455325 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.455325 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164905.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.455325 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.78 0.46 12.79 4.01 4.12 0 10031.69 02:19:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.561101 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.561101 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.561101 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.561101 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164906.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.561101 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.561101 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.561101 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.647185 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.647185 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164907.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.647185 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.647185 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.94 1.83 14.06 4.09 4.12 0 16149.87 02:19:42 m : DepthEnvelope -- Measured altitude 6.647185 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.647185 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.647185 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164908.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.807103 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.807103 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.063334 : DepthEnvelope -- Measured altitude 6.807103 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.807103 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.807103 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164909.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.807103 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.807103 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.807103 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.987402 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.987402 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164910.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.987402 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.987402 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.987402 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.987402 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.987402 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164911.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.229785 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.229785 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.229785 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.229785 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.229785 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164912.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.229785 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.229785 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.229785 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.308656 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.308656 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164913.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 1.00 13.37 4.10 4.12 0 24914.96 02:19:48 m : DepthEnvelope -- Measured altitude 7.308656 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.308656 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.308656 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.308656 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.308656 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164914.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.475789 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.475789 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.475789 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.475789 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.475789 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164915.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.475789 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.78 0.65 12.69 4.01 4.12 0 10031.63 02:19:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.475789 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.570385 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.570385 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.570385 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164916.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.570385 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.570385 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.570385 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.570385 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.570385 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164917.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.710252 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.710252 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.98 1.36 14.06 4.09 4.12 0 16149.68 02:19:52 m : DepthEnvelope -- Measured altitude 7.710252 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.710252 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.710252 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164918.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.710252 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.710252 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : DepthEnvelope -- Measured altitude 7.664557 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.664557 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.664557 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164919.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.664557 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.664557 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.664557 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.664557 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.817639 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164920.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.817639 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.817639 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.817639 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.817639 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.817639 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164921.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.817639 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.817639 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.768272 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.768272 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.768272 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164922.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.768272 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.768272 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.768272 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.768272 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.707034 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164923.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 1.00 13.37 4.10 4.12 0 24914.85 02:19:58 m : DepthEnvelope -- Measured altitude 7.707034 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.707034 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.707034 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.707034 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.707034 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164924.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.707034 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.845981 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.845981 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.845981 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.845981 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164925.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.845981 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.78 0.46 12.69 4.01 4.12 0 10031.55 02:20:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.845981 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.845981 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.845981 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.004915 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164926.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.004915 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.004915 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.004915 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.004915 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.004915 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164927.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.004915 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.008434 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.98 1.39 14.06 4.09 4.12 0 16149.57 02:20:02 m : DepthEnvelope -- Measured altitude 8.008434 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.008434 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.008434 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164928.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.008434 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.008434 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : DepthEnvelope -- Measured altitude 8.008434 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.354715 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.354715 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164929.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.354715 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.354715 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.354715 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.354715 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.354715 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164930.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.354715 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.578106 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.578106 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.578106 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.578106 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164931.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.578106 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.578106 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.578106 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.853354 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.853354 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164932.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.853354 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.853354 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.853354 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.853354 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.853354 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164933.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 1.03 13.37 4.10 4.12 0 24914.78 02:20:08 m : DepthEnvelope -- Measured altitude 9.035457 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.035457 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.035457 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.035457 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.035457 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164934.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.035457 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.035457 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.035457 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.217193 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.217193 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164935.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.217193 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.78 0.43 12.69 4.01 4.12 0 10031.52 02:20:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.217193 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.217193 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.217193 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.217193 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164936.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.650552 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.650552 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.650552 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.650552 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.650552 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164937.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.650552 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.650552 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.98 1.36 14.06 4.09 4.12 0 16149.42 02:20:12 m : DepthEnvelope -- Measured altitude 9.650552 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.821211 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.821211 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164938.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.821211 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.821211 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : DepthEnvelope -- Measured altitude 9.821211 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.821211 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.821211 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164939.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.860786 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.860786 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.860786 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.860786 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.860786 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164940.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.860786 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.860786 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.188313 over abort altitude 10.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164941.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164942.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164943.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 1.03 13.37 4.10 4.12 0 24914.67 02:20:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164944.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164945.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.74 1.33 12.69 4.01 4.12 0 10031.44 02:20:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164946.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164947.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.87 3.55 13.96 4.08 4.11 0 16149.27 02:20:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164948.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.063334 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164949.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164950.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164951.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164952.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164953.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.52 13.37 4.10 4.11 0 24914.46 02:20:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164954.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164955.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.70 2.17 12.79 4.01 4.12 0 10031.28 02:20:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164956.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164957.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.83 3.91 13.96 4.08 4.11 0 16148.82 02:20:32 m : AshtechGps::processRecord() - $GPGGA,164958.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.063334 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164959.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165000.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165001.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165002.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165003.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.48 13.28 4.10 4.11 0 24914.10 02:20:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165004.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165005.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 1.99 12.69 4.00 4.11 0 10031.03 02:20:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165006.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165007.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.83 3.59 13.96 4.08 4.10 0 16148.52 02:20:42 m : AshtechGps::processRecord() - $GPGGA,165008.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.060000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165009.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165010.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165011.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165012.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165013.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.37 13.37 4.09 4.10 0 24913.83 02:20:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165014.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165015.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 1.84 12.69 4.00 4.11 0 10030.87 02:20:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165016.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165017.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.87 3.23 13.96 4.08 4.10 0 16148.11 02:20:52 m : AshtechGps::processRecord() - $GPGGA,165018.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : AshtechGps::processRecord() - $GPGGA,165019.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165020.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165021.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165022.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165023.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.22 13.37 4.09 4.10 0 24913.49 02:20:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165024.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165025.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.66 1.95 12.69 4.00 4.11 0 10030.65 02:21:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165026.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165027.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.87 3.30 13.96 4.08 4.11 0 16147.85 02:21:02 m : AshtechGps::processRecord() - $GPGGA,165028.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : AshtechGps::processRecord() - $GPGGA,165029.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165030.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165031.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165032.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165033.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.11 13.28 4.09 4.10 0 24913.27 02:21:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165034.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165035.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.66 1.95 12.69 4.00 4.11 0 10030.50 02:21:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165036.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165037.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.87 3.23 13.86 4.08 4.11 0 16147.46 02:21:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165038.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : AshtechGps::processRecord() - $GPGGA,165039.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165040.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165041.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165042.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165043.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.00 13.28 4.09 4.10 0 24912.95 02:21:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165044.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165045.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.91 12.69 4.00 4.10 0 10030.28 02:21:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165046.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165047.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.83 3.23 13.96 4.08 4.10 0 16147.19 02:21:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165048.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : AshtechGps::processRecord() - $GPGGA,165049.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165050.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165051.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165052.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165053.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.22 13.28 4.09 4.10 0 24912.73 02:21:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165054.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165055.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 1.70 12.79 4.00 4.10 0 10030.13 02:21:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165056.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165057.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.87 3.26 13.86 4.08 4.10 0 16146.79 02:21:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165058.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165059.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165100.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165101.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165102.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165103.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.11 13.28 4.09 4.10 0 24912.34 02:21:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165104.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165105.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 2.02 12.69 3.99 4.10 0 10029.90 02:21:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165106.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165107.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.87 3.16 13.86 4.08 4.10 0 16146.48 02:21:42 m : AshtechGps::processRecord() - $GPGGA,165108.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.053333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165109.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165110.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165111.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165112.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165113.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.30 13.18 4.09 4.10 0 24912.13 02:21:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165114.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165115.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 2.39 12.69 3.99 4.10 0 10029.76 02:21:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165116.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165117.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.83 3.37 13.86 4.08 4.10 0 16146.06 02:21:52 m : AshtechGps::processRecord() - $GPGGA,165118.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.053333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165119.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165120.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165121.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165122.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165123.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 3.15 13.18 4.09 4.10 0 24911.75 02:21:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165124.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165125.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.88 12.69 4.00 4.11 0 10029.53 02:22:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,165126.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165127.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.87 3.26 13.86 4.08 4.10 0 16145.79 02:22:02 m : AshtechGps::processRecord() - $GPGGA,165128.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : AshtechGps::processRecord() - $GPGGA,165129.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165130.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,165131.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165132.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165133.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.11 13.28 4.09 4.10 0 24911.52 02:22:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165134.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165135.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.77 12.59 4.00 4.11 0 10029.38 02:22:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165136.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165137.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 4.74 13.86 4.08 4.10 0 16145.33 02:22:12 m : AshtechGps::processRecord() - $GPGGA,165138.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : AshtechGps::processRecord() - $GPGGA,165139.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165140.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165141.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165142.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165143.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 3.30 13.28 4.09 4.10 0 24911.16 02:22:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165144.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165145.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.66 1.91 12.59 3.99 4.10 0 10029.14 02:22:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165146.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165147.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.83 3.41 13.86 4.08 4.10 0 16145.05 02:22:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165148.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.053333 : AshtechGps::processRecord() - $GPGGA,165149.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165150.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165151.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165152.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165153.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.26 13.18 4.09 4.10 0 24910.91 02:22:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165154.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165155.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.99 12.59 3.99 4.10 0 10028.98 02:22:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165156.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165157.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.83 3.41 13.86 4.08 4.10 0 16144.61 02:22:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165158.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.053333 : AshtechGps::processRecord() - $GPGGA,165159.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165200.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165201.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165202.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165203.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 3.11 13.37 4.09 4.10 0 24910.55 02:22:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165204.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165205.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 1.99 12.69 4.00 4.10 0 10028.75 02:22:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165206.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165207.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.83 3.59 13.96 4.08 4.10 0 16144.34 02:22:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165208.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165209.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165210.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165211.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165212.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165213.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 3.67 13.28 4.09 4.10 0 24910.32 02:22:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165214.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165215.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 2.06 12.69 4.00 4.10 0 10028.57 02:22:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165216.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165217.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.83 3.55 13.96 4.08 4.10 0 16143.89 02:22:52 m : AshtechGps::processRecord() - $GPGGA,165218.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165219.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165220.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165221.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165222.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165223.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 4.71 13.28 4.09 4.10 0 24909.95 02:22:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165224.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165225.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 2.31 12.59 3.99 4.10 0 10028.31 02:23:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165226.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165227.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.83 3.41 13.96 4.08 4.10 0 16143.61 02:23:02 m : AshtechGps::processRecord() - $GPGGA,165228.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.053333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165229.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165230.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165231.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165232.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165233.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.41 13.28 4.08 4.10 0 24909.70 02:23:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165234.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165235.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.84 12.59 3.99 4.10 0 10028.14 02:23:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165236.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165237.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.83 3.34 13.96 4.08 4.10 0 16143.17 02:23:12 m : AshtechGps::processRecord() - $GPGGA,165238.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.050000 : AshtechGps::processRecord() - $GPGGA,165239.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165240.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165241.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165242.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165243.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.07 13.37 4.08 4.10 0 24909.37 02:23:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165244.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165245.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.66 2.21 12.59 3.99 4.10 0 10027.91 02:23:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165246.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165247.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.83 3.55 13.96 4.08 4.10 0 16142.91 02:23:22 m : AshtechGps::processRecord() - $GPGGA,165248.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.050000 : AshtechGps::processRecord() - $GPGGA,165249.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165250.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165251.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165252.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165253.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 3.59 13.37 4.08 4.10 0 24909.11 02:23:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165254.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165255.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.70 1.95 12.59 3.99 4.10 0 10027.75 02:23:30 m : AshtechGps::processRecord() - $GPGGA,165256.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165257.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.83 3.55 13.96 4.08 4.10 0 16142.48 02:23:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165258.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.050000 : AshtechGps::processRecord() - $GPGGA,165259.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165300.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165301.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165302.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165303.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 3.89 13.37 4.08 4.10 0 24908.76 02:23:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165304.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165305.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.91 12.59 4.00 4.10 0 10027.47 02:23:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165306.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165307.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.83 3.41 13.96 4.08 4.10 0 16142.21 02:23:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165308.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.053333 : AshtechGps::processRecord() - $GPGGA,165309.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165310.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165311.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165312.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165313.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 3.33 13.37 4.09 4.10 0 24908.52 02:23:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165314.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165315.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.95 12.59 4.00 4.10 0 10027.31 02:23:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165316.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165317.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.83 3.41 13.96 4.08 4.10 0 16141.79 02:23:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165318.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165319.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165320.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165321.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165322.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165323.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 3.37 13.37 4.09 4.10 0 24908.17 02:23:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165324.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165325.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 2.28 12.59 3.99 4.10 0 10027.05 02:24:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165326.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165327.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.83 3.48 13.96 4.07 4.10 0 16141.50 02:24:02 m : AshtechGps::processRecord() - $GPGGA,165328.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.050000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165329.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165330.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165331.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165332.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.930424 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,165333.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : BluefinBatt Reply: $aaq0 d- 32.59 3.52 13.37 4.08 4.10 0 24907.92 02:24:08 m : DepthEnvelope -- Measured altitude 9.930424 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.930424 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.930424 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.930424 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.930424 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165334.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.930424 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.255937 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.255937 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.255937 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.255937 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165335.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.255937 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.66 2.10 12.69 3.99 4.10 0 10026.88 02:24:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.255937 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.255937 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.255937 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.990654 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165336.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.990654 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.990654 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.990654 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.990654 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.990654 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165337.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.990654 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.400848 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.91 1.57 13.96 4.07 4.10 0 16141.16 02:24:12 m : DepthEnvelope -- Measured altitude 8.400848 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.400848 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.400848 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165338.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.400848 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.400848 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : DepthEnvelope -- Measured altitude 8.400848 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.661104 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.661104 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165339.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.661104 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.661104 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.661104 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.661104 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.661104 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,165340.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.661104 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.122507 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.122507 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.122507 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.122507 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165341.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.122507 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.122507 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.122507 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.539203 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.539203 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165342.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.539203 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.539203 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.539203 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.539203 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.539203 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165343.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 1.44 13.37 4.08 4.10 0 24907.73 02:24:18 m : DepthEnvelope -- Measured altitude 6.539203 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.324427 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.324427 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.324427 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.324427 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165344.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.324427 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.324427 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.324427 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.154426 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.154426 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165345.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.154426 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.78 0.46 12.59 4.01 4.12 0 10026.82 02:24:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.154426 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.154426 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.154426 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.154426 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165346.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.153453 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.153453 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.153453 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.153453 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.153453 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,165347.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.153453 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.153453 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.94 1.39 13.96 4.09 4.12 0 16141.06 02:24:22 m : DepthEnvelope -- Measured altitude 6.153453 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.317002 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.317002 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165348.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.317002 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.317002 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.060000 : DepthEnvelope -- Measured altitude 6.317002 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.317002 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.317002 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165349.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.681545 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.681545 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.681545 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.681545 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.681545 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165350.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.681545 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.681545 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.942657 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.942657 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.942657 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165351.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.942657 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.942657 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.942657 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.942657 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.942657 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165352.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.158011 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.158011 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.158011 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.158011 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.158011 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165353.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 1.00 13.37 4.10 4.11 0 24907.66 02:24:28 m : DepthEnvelope -- Measured altitude 7.158011 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.158011 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.294994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.294994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.294994 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,165354.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.294994 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.294994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.294994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.294994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.408402 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165355.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.408402 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.78 0.54 12.69 4.01 4.12 0 10026.78 02:24:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.408402 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.408402 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.408402 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.408402 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165356.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.408402 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.408402 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.482168 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.482168 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.482168 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165357.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.482168 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.482168 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.94 1.83 13.96 4.09 4.12 0 16140.91 02:24:32 m : DepthEnvelope -- Measured altitude 7.482168 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.482168 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.727934 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165358.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.727934 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.727934 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : DepthEnvelope -- Measured altitude 7.727934 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.727934 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.727934 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165359.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.727934 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.995608 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.995608 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.995608 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.995608 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165400.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.995608 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.995608 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.995608 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.995608 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.070873 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,165401.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.070873 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.070873 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.070873 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.070873 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.070873 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165402.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.070873 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.261954 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.261954 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.261954 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.261954 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165403.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 1.22 13.37 4.10 4.11 0 24907.55 02:24:38 m : DepthEnvelope -- Measured altitude 8.261954 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.261954 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.261954 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.335780 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.335780 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165404.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.335780 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.335780 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.335780 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.335780 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.335780 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165405.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.335780 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.78 0.46 12.59 4.01 4.12 0 10026.71 02:24:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.336242 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.336242 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.336242 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.336242 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165406.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.336242 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.336242 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.336242 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.334848 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.334848 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165407.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.334848 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.334848 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.94 1.36 13.86 4.09 4.12 0 16140.78 02:24:42 m : DepthEnvelope -- Measured altitude 8.334848 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.334848 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.334848 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,165408.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.334848 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.518440 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : DepthEnvelope -- Measured altitude 8.518440 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.518440 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.518440 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165409.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.518440 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.518440 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.518440 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.470015 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.470015 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165410.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.470015 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.470015 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.470015 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.470015 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.470015 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165411.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.580903 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.580903 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.580903 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.580903 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.580903 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165412.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.580903 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.580903 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.580903 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.466418 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.466418 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165413.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.75 0.92 13.28 4.10 4.11 0 24907.46 02:24:48 m : DepthEnvelope -- Measured altitude 8.466418 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.466418 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.466418 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.466418 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.466418 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165414.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.691558 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.691558 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.691558 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.691558 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.691558 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,165415.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.691558 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.78 0.46 12.59 4.01 4.12 0 10026.68 02:24:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.691558 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.619630 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.619630 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.619630 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165416.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.619630 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.619630 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.619630 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.619630 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.619630 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165417.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.042375 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.042375 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.94 1.39 13.96 4.09 4.12 0 16140.62 02:24:52 m : DepthEnvelope -- Measured altitude 9.042375 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.042375 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.042375 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165418.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.042375 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.042375 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : DepthEnvelope -- Measured altitude 9.238239 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.238239 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.238239 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165419.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.238239 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.238239 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.238239 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.238239 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.238239 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165420.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.543500 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.543500 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.543500 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.543500 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.543500 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165421.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.543500 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.543500 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.731483 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.731483 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.731483 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,165422.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.731483 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.731483 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.731483 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.731483 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.923442 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165423.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.78 0.92 13.28 4.10 4.11 0 24907.36 02:24:58 m : DepthEnvelope -- Measured altitude 9.923442 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.923442 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.923442 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.923442 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.923442 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165424.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.923442 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.923442 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.103966 over abort altitude 10.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165425.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.78 0.50 12.59 4.01 4.12 0 10026.63 02:25:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165426.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165427.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.94 1.50 13.86 4.09 4.12 0 16140.52 02:25:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165428.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165429.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165430.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165431.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165432.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165433.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 3.37 13.28 4.10 4.11 0 24907.24 02:25:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165434.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165435.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 2.28 12.59 4.01 4.12 0 10026.50 02:25:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165436.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165437.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.79 4.31 13.86 4.09 4.12 0 16140.13 02:25:12 m : AshtechGps::processRecord() - $GPGGA,165438.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165439.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165440.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165441.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165442.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165443.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 3.41 13.37 4.10 4.11 0 24906.87 02:25:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165444.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165445.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 2.21 12.59 3.99 4.10 0 10026.23 02:25:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165446.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165447.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.83 3.73 13.86 4.08 4.10 0 16139.83 02:25:22 m : AshtechGps::processRecord() - $GPGGA,165448.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.056667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165449.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165450.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165451.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165452.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165453.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 3.04 13.28 4.08 4.10 0 24906.66 02:25:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165454.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165455.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 1.81 12.59 3.99 4.10 0 10026.08 02:25:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165456.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165457.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.83 3.80 13.86 4.08 4.10 0 16139.43 02:25:32 m : AshtechGps::processRecord() - $GPGGA,165458.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.050000 : AshtechGps::processRecord() - $GPGGA,165459.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165500.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165501.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165502.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165503.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 2.85 13.28 4.08 4.10 0 24906.35 02:25:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165504.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165505.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.95 12.59 4.00 4.10 0 10025.86 02:25:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165506.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165507.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.83 3.52 13.86 4.08 4.10 0 16139.18 02:25:42 m : AshtechGps::processRecord() - $GPGGA,165508.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.053333 : AshtechGps::processRecord() - $GPGGA,165509.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165510.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165511.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165512.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165513.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 2.70 13.28 4.09 4.10 0 24906.15 02:25:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165514.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165515.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.66 1.77 12.59 4.00 4.10 0 10025.71 02:25:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165516.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165517.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.83 3.52 13.86 4.08 4.10 0 16138.79 02:25:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165518.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : AshtechGps::processRecord() - $GPGGA,165519.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165520.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165521.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165522.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165523.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 2.82 13.18 4.09 4.10 0 24905.84 02:25:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165524.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165525.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.70 12.59 4.00 4.10 0 10025.46 02:26:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165526.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165527.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.83 3.37 13.86 4.08 4.10 0 16138.53 02:26:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165528.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : AshtechGps::processRecord() - $GPGGA,165529.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165530.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165531.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165532.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165533.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 2.78 13.28 4.08 4.10 0 24905.64 02:26:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165534.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165535.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.77 12.59 4.00 4.10 0 10025.31 02:26:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165536.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165537.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.66 13.86 4.08 4.10 0 16138.14 02:26:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165538.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.053333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165539.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165540.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165541.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165542.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165543.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 2.85 13.18 4.08 4.10 0 24905.33 02:26:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165544.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165545.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.73 12.59 4.00 4.10 0 10025.10 02:26:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165546.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165547.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.83 3.59 13.86 4.08 4.10 0 16137.89 02:26:22 m : AshtechGps::processRecord() - $GPGGA,165548.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.053333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165549.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165550.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165551.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165552.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165553.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 2.74 13.18 4.08 4.10 0 24905.12 02:26:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165554.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165555.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.77 12.59 4.00 4.10 0 10024.95 02:26:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165556.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165557.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.83 3.34 13.86 4.08 4.10 0 16137.50 02:26:32 m : AshtechGps::processRecord() - $GPGGA,165558.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.053333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165559.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165600.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165601.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165602.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165603.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 2.67 13.08 4.08 4.10 0 24904.78 02:26:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165604.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165605.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.88 12.59 3.99 4.10 0 10024.71 02:26:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165606.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165607.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.83 3.26 13.76 4.07 4.10 0 16137.23 02:26:42 m : AshtechGps::processRecord() - $GPGGA,165608.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,165609.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165610.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165611.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165612.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165613.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 3.44 13.18 4.08 4.10 0 24904.58 02:26:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165614.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165615.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.84 12.59 3.99 4.10 0 10024.57 02:26:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165616.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165617.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.55 13.76 4.07 4.10 0 16136.85 02:26:52 m : AshtechGps::processRecord() - $GPGGA,165618.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,165619.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165620.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165621.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165622.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165623.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 2.89 13.18 4.08 4.10 0 24904.27 02:26:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165624.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165625.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.66 1.84 12.59 3.99 4.10 0 10024.30 02:27:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165626.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165627.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 4.06 13.86 4.07 4.10 0 16136.58 02:27:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165628.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,165629.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165630.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165631.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165632.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165633.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 3.19 13.18 4.08 4.10 0 24904.04 02:27:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165634.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165635.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.88 12.59 3.99 4.10 0 10024.13 02:27:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165636.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165637.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.91 13.86 4.07 4.10 0 16136.15 02:27:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165638.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,165639.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165640.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165641.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165642.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165643.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 3.04 13.08 4.08 4.10 0 24903.71 02:27:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165644.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165645.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 2.46 12.59 3.99 4.10 0 10023.89 02:27:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165646.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165647.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.84 13.86 4.07 4.10 0 16135.88 02:27:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165648.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165649.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165650.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165651.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165652.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165653.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 3.07 13.18 4.08 4.09 0 24903.49 02:27:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165654.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165655.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.95 12.59 3.99 4.10 0 10023.72 02:27:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165656.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165657.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.79 3.70 13.86 4.07 4.10 0 16135.47 02:27:32 m : AshtechGps::processRecord() - $GPGGA,165658.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165659.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165700.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165701.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165702.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165703.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 3.11 13.18 4.08 4.09 0 24903.15 02:27:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165704.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165705.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.91 12.59 3.99 4.10 0 10023.48 02:27:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165706.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165707.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.98 13.86 4.07 4.10 0 16135.19 02:27:42 m : AshtechGps::processRecord() - $GPGGA,165708.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165709.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165710.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165711.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165712.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165713.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 2.96 13.18 4.08 4.10 0 24902.93 02:27:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165714.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165715.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.91 12.50 3.99 4.10 0 10023.32 02:27:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165716.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165717.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.80 13.86 4.07 4.10 0 16134.77 02:27:52 m : AshtechGps::processRecord() - $GPGGA,165718.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,165719.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165720.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165721.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165722.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165723.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 3.15 13.18 4.08 4.10 0 24902.58 02:27:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165724.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165725.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.95 12.59 3.99 4.10 0 10023.08 02:28:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165726.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165727.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.77 13.86 4.07 4.10 0 16134.45 02:28:02 m : AshtechGps::processRecord() - $GPGGA,165728.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,165729.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165730.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165731.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165732.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165733.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 3.04 13.18 4.08 4.09 0 24902.36 02:28:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165734.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165735.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.59 2.93 12.59 3.99 4.10 0 10022.92 02:28:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165736.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165737.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.98 13.86 4.07 4.10 0 16134.02 02:28:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165738.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,165739.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165740.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165741.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165742.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165743.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 3.11 13.18 4.08 4.09 0 24902.02 02:28:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165744.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165745.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.66 2.02 12.50 3.99 4.10 0 10022.68 02:28:20 m : AshtechGps::processRecord() - $GPGGA,165746.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165747.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.77 13.86 4.07 4.10 0 16133.75 02:28:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165748.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,165749.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165750.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165751.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165752.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165753.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 2.92 13.18 4.08 4.09 0 24901.81 02:28:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165754.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165755.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.91 12.59 3.99 4.10 0 10022.52 02:28:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165756.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165757.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.73 13.96 4.07 4.10 0 16133.35 02:28:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165758.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165759.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165800.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165801.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165802.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165803.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 3.04 13.18 4.08 4.09 0 24901.47 02:28:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165804.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165805.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 2.10 12.59 3.99 4.10 0 10022.27 02:28:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165806.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165807.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.79 3.80 13.86 4.07 4.10 0 16133.05 02:28:42 m : AshtechGps::processRecord() - $GPGGA,165808.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165809.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165810.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165811.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165812.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165813.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 3.07 13.18 4.08 4.09 0 24901.25 02:28:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165814.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165815.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 2.02 12.59 3.99 4.10 0 10022.11 02:28:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165816.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165817.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.62 13.86 4.07 4.10 0 16132.64 02:28:52 m : AshtechGps::processRecord() - $GPGGA,165818.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165819.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165820.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165821.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165822.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165823.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 3.00 13.18 4.08 4.09 0 24900.92 02:28:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165824.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.420877 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.420877 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.420877 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165825.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.420877 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.66 2.06 12.59 3.99 4.10 0 10021.87 02:29:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.420877 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.420877 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.420877 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.762645 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165826.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.762645 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.762645 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.762645 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.762645 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.762645 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,165827.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.762645 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.762645 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.79 3.41 13.86 4.07 4.10 0 16132.37 02:29:02 m : DepthEnvelope -- Measured altitude 8.363373 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.363373 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.363373 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165828.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.363373 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.363373 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : DepthEnvelope -- Measured altitude 8.363373 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.363373 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.991494 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165829.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.991494 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.991494 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.991494 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.991494 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.991494 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165830.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.991494 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.241546 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.241546 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.241546 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.241546 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165831.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.241546 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.241546 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.241546 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.241546 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.617314 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165832.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.617314 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.617314 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.617314 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.617314 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.617314 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165833.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 1.14 13.37 4.08 4.09 0 24900.78 02:29:08 m : DepthEnvelope -- Measured altitude 6.617314 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.974879 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.974879 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.974879 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.974879 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,165834.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.974879 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.974879 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.974879 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.712563 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.712563 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165835.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.712563 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.78 0.54 12.59 3.99 4.10 0 10021.83 02:29:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.712563 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.712563 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.712563 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.712563 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165836.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.712563 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.725672 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.725672 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.725672 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.725672 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165837.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.725672 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.725672 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.87 1.72 13.86 4.07 4.10 0 16132.21 02:29:12 m : DepthEnvelope -- Measured altitude 5.725672 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.694469 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.694469 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165838.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.694469 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.694469 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : DepthEnvelope -- Measured altitude 5.694469 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.694469 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.694469 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165839.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.992375 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.992375 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.992375 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.992375 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.992375 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165840.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.992375 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.992375 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.992375 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.267898 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.267898 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,165841.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.267898 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.267898 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.267898 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.267898 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.267898 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165842.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.503298 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.503298 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : DynoLayeredControlServer insertBehaves : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion FireTheGulperAMC after pos 2 : DynoLayeredControl::insert - stack now contains 15 behaviors : The FireTheGulperAMC Behavior has executed. FIRING THE GULPER NOW. : LayeredControl::execute() -- (t = 3667.538756) Behavior FireTheGulperAMC:796926 has changed to state Active : LayeredControl - FireTheGulperAMC BehaviorStarted:796926 msg to VcsServer : DepthEnvelope -- Measured altitude 6.503298 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.503298 under allowable altitude 10.000000. Stopping! : Gulper::fireGulper - cmd is $021Fff : DepthEnvelope -- Measured altitude 6.503298 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165843.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 1.03 13.28 4.08 4.09 0 24900.64 02:29:18 m : DepthEnvelope -- Measured altitude 6.503298 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.503298 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.640215 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.640215 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.640215 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165844.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.640215 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl::execute() -- (t = 3669.198643) Behavior FireTheGulperAMC:796926 has changed to state Finished : LayeredControl - sending BehaviorFinished:796926 msg to VcsServer : DepthEnvelope -- Measured altitude 6.640215 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.640215 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.640215 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.640215 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165845.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.777099 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.74 0.79 12.59 4.00 4.11 0 10021.78 02:29:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.777099 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.777099 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.777099 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.777099 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165846.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.777099 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.777099 under allowable altitude 10.000000. Stopping! : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion FireTheGulperAMC after pos 2 : DynoLayeredControl::insert - stack now contains 16 behaviors : The FireTheGulperAMC Behavior has executed. FIRING THE GULPER NOW. : LayeredControl::execute() -- (t = 3671.538482) Behavior FireTheGulperAMC:796895 has changed to state Active : LayeredControl - FireTheGulperAMC BehaviorStarted:796895 msg to VcsServer : DepthEnvelope -- Measured altitude 6.902955 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.902955 under allowable altitude 10.000000. Stopping! : Gulper::fireGulper - cmd is $031Fff : DepthEnvelope -- Measured altitude 6.902955 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165847.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.902955 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.902955 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.94 1.36 13.86 4.08 4.11 0 16132.11 02:29:22 m : DepthEnvelope -- Measured altitude 6.902955 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.902955 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.902955 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,165848.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.100134 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl::execute() -- (t = 3673.198369) Behavior FireTheGulperAMC:796895 has changed to state Finished : LayeredControl - sending BehaviorFinished:796895 msg to VcsServer : DepthEnvelope -- Measured altitude 7.100134 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.053333 : DepthEnvelope -- Measured altitude 7.100134 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.100134 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.100134 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165849.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.100134 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.100134 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.380590 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.380590 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.380590 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165850.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.380590 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.380590 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.380590 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.380590 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.476973 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165851.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.476973 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.476973 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.476973 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.476973 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.476973 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165852.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.476973 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.476973 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.757082 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.757082 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.757082 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165853.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 1.03 13.18 4.09 4.10 0 24900.55 02:29:28 m : DepthEnvelope -- Measured altitude 7.757082 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.757082 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.757082 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.757082 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.724304 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165854.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.724304 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.724304 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.724304 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.724304 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.724304 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,165855.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.724304 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.74 0.57 12.59 4.00 4.11 0 10021.74 02:29:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.851399 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.851399 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.851399 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.851399 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165856.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.851399 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.851399 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.851399 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.851399 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.829559 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165857.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.829559 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.829559 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.94 1.36 13.86 4.08 4.11 0 16131.96 02:29:32 m : DepthEnvelope -- Measured altitude 7.829559 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.829559 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.829559 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165858.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.829559 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.907274 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : DepthEnvelope -- Measured altitude 7.907274 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.907274 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.907274 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165859.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.907274 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.907274 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.907274 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.958668 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.958668 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165900.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.958668 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.958668 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.958668 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.958668 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.958668 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165901.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.958668 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.942257 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.942257 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.942257 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.942257 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,165902.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.942257 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.942257 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.942257 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.076884 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.076884 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165903.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 0.96 13.18 4.09 4.10 0 24900.40 02:29:38 m : DepthEnvelope -- Measured altitude 8.076884 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.076884 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.076884 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.076884 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.076884 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165904.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.188074 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.188074 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.188074 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.188074 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.188074 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165905.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.188074 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.74 0.57 12.59 4.01 4.12 0 10021.66 02:29:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.188074 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.188074 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.342254 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.342254 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165906.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.342254 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.342254 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.342254 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.342254 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.342254 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165907.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.537473 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.537473 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.91 1.39 13.86 4.09 4.11 0 16131.84 02:29:42 m : DepthEnvelope -- Measured altitude 8.537473 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.537473 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.537473 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165908.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.537473 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.537473 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.063334 : DepthEnvelope -- Measured altitude 8.537473 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.726305 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.726305 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,165909.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.726305 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.726305 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.726305 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.726305 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.726305 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165910.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.931951 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.931951 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.931951 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.931951 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.931951 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165911.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.931951 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.931951 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.016842 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.016842 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.016842 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165912.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.016842 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.016842 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.016842 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.016842 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.016842 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165913.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 0.92 13.18 4.10 4.11 0 24900.33 02:29:48 m : DepthEnvelope -- Measured altitude 9.345584 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.345584 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.345584 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.345584 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.345584 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165914.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.345584 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.345584 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.426520 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.426520 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.426520 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165915.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.426520 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.78 0.57 12.50 4.01 4.12 0 10021.62 02:29:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.426520 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.426520 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.426520 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.740573 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,165916.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.740573 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.740573 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.740573 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.740573 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.740573 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165917.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.740573 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.740573 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.91 1.43 13.86 4.09 4.11 0 16131.69 02:29:52 m : DepthEnvelope -- Measured altitude 9.891541 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.891541 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.891541 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165918.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.891541 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.891541 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.066667 : DepthEnvelope -- Measured altitude 9.891541 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.891541 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- altitude 10.223778 over abort altitude 10.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,165919.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165920.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165921.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165922.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165923.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 1.55 13.18 4.10 4.11 0 24900.21 02:29:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165924.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165925.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.81 12.59 4.00 4.10 0 10021.52 02:30:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165926.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165927.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.98 13.86 4.08 4.10 0 16131.52 02:30:02 m : AshtechGps::processRecord() - $GPGGA,165928.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.060000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165929.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165930.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165931.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165932.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165933.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 3.44 13.18 4.08 4.10 0 24899.98 02:30:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165934.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165935.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.62 2.24 12.50 4.00 4.10 0 10021.35 02:30:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165936.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165937.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 4.13 13.86 4.08 4.10 0 16131.10 02:30:12 m : AshtechGps::processRecord() - $GPGGA,165938.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.053333 : AshtechGps::processRecord() - $GPGGA,165939.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165940.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165941.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165942.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165943.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 3.07 13.18 4.08 4.10 0 24899.63 02:30:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165944.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165945.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 2.17 12.50 3.99 4.10 0 10021.10 02:30:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165946.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165947.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.80 13.76 4.07 4.10 0 16130.81 02:30:22 m : AshtechGps::processRecord() - $GPGGA,165948.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,165949.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165950.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165951.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165952.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165953.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 2.78 13.18 4.08 4.09 0 24899.42 02:30:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165954.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165955.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.66 1.88 12.59 3.99 4.10 0 10020.96 02:30:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165956.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165957.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.62 13.76 4.07 4.10 0 16130.42 02:30:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,165958.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,165959.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170000.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170001.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170002.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170003.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 2.78 13.18 4.08 4.09 0 24899.12 02:30:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170004.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170005.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.84 12.50 3.99 4.10 0 10020.73 02:30:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170006.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170007.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.41 13.76 4.08 4.10 0 16130.16 02:30:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170008.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.050000 : AshtechGps::processRecord() - $GPGGA,170009.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170010.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170011.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170012.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170013.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 2.74 13.08 4.08 4.10 0 24898.90 02:30:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170014.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170015.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.99 12.59 3.99 4.10 0 10020.57 02:30:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170016.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170017.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.66 13.76 4.08 4.10 0 16129.76 02:30:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170018.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.050000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170019.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170020.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170021.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170022.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170023.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 3.63 13.08 4.08 4.10 0 24898.60 02:30:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170024.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170025.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.73 12.59 3.99 4.10 0 10020.36 02:31:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170026.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170027.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.79 3.41 13.76 4.07 4.10 0 16129.50 02:31:02 m : AshtechGps::processRecord() - $GPGGA,170028.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170029.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170030.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170031.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170032.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170033.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 4.04 13.08 4.08 4.10 0 24898.40 02:31:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170034.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170035.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.91 12.50 3.99 4.10 0 10020.21 02:31:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170036.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170037.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.41 13.67 4.07 4.10 0 16129.11 02:31:12 m : AshtechGps::processRecord() - $GPGGA,170038.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170039.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170040.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170041.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170042.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170043.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 2.82 13.08 4.08 4.10 0 24898.09 02:31:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170044.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170045.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.77 12.50 3.99 4.10 0 10019.96 02:31:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170046.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170047.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.44 13.67 4.07 4.10 0 16128.84 02:31:22 m : AshtechGps::processRecord() - $GPGGA,170048.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,170049.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170050.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170051.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170052.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170053.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 2.82 13.18 4.08 4.10 0 24897.88 02:31:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170054.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170055.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.95 12.59 3.99 4.10 0 10019.80 02:31:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170056.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170057.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.41 13.67 4.07 4.10 0 16128.44 02:31:32 m : AshtechGps::processRecord() - $GPGGA,170058.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,170059.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170100.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170101.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170102.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170103.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 2.82 13.18 4.08 4.10 0 24897.58 02:31:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170104.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170105.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.66 1.73 12.59 3.99 4.10 0 10019.58 02:31:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170106.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170107.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.34 13.67 4.07 4.10 0 16128.18 02:31:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170108.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,170109.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170110.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170111.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170112.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170113.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 3.00 13.08 4.08 4.10 0 24897.38 02:31:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170114.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170115.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 1.84 12.50 3.99 4.10 0 10019.42 02:31:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170116.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170117.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 4.56 13.67 4.07 4.10 0 16127.80 02:31:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170118.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,170119.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170120.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170121.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170122.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170123.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 2.96 13.08 4.08 4.10 0 24897.06 02:31:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170124.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170125.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 1.91 12.50 3.98 4.10 0 10019.18 02:32:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170126.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170127.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.84 13.67 4.07 4.10 0 16127.51 02:32:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170128.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.043333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170129.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170130.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170131.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170132.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170133.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 3.11 13.08 4.08 4.09 0 24896.83 02:32:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170134.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170135.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 1.88 12.50 3.98 4.10 0 10019.02 02:32:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170136.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170137.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.79 3.66 13.67 4.07 4.10 0 16127.06 02:32:12 m : AshtechGps::processRecord() - $GPGGA,170138.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.043333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170139.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170140.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170141.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170142.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170143.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 3.22 13.08 4.08 4.09 0 24896.50 02:32:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170144.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170145.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 1.99 12.50 3.99 4.10 0 10018.78 02:32:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170146.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170147.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 4.96 13.76 4.07 4.10 0 16126.80 02:32:22 m : AshtechGps::processRecord() - $GPGGA,170148.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170149.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170150.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170151.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170152.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170153.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 3.15 13.08 4.08 4.09 0 24896.28 02:32:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170154.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170155.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 1.95 12.50 3.99 4.10 0 10018.62 02:32:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170156.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170157.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.95 13.76 4.07 4.10 0 16126.36 02:32:32 m : AshtechGps::processRecord() - $GPGGA,170158.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,170159.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170200.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170201.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170202.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170203.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 3.04 13.08 4.08 4.09 0 24895.95 02:32:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170204.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170205.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 1.91 12.40 3.98 4.10 0 10018.36 02:32:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170206.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170207.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 3.84 13.76 4.07 4.09 0 16126.08 02:32:42 m : AshtechGps::processRecord() - $GPGGA,170208.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.043333 : AshtechGps::processRecord() - $GPGGA,170209.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170210.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170211.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170212.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170213.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 3.26 13.08 4.08 4.09 0 24895.72 02:32:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170214.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170215.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.66 2.21 12.40 3.98 4.10 0 10018.20 02:32:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170216.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170217.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.70 13.86 4.07 4.09 0 16125.67 02:32:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170218.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.043333 : AshtechGps::processRecord() - $GPGGA,170219.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170220.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170221.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170222.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170223.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 2.92 13.18 4.08 4.09 0 24895.38 02:32:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170224.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170225.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 2.02 12.40 3.99 4.10 0 10017.94 02:33:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170226.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170227.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 3.95 13.86 4.07 4.10 0 16125.39 02:33:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170228.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,170229.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170230.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170231.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170232.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170233.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 3.04 13.18 4.08 4.09 0 24895.15 02:33:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170234.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170235.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 1.99 12.40 3.99 4.10 0 10017.79 02:33:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170236.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170237.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.84 13.86 4.07 4.10 0 16124.99 02:33:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170238.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170239.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170240.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170241.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170242.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170243.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 2.89 13.08 4.08 4.09 0 24894.83 02:33:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170244.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170245.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 1.95 12.40 3.99 4.10 0 10017.55 02:33:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170246.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170247.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.79 3.59 13.86 4.07 4.10 0 16124.72 02:33:22 m : AshtechGps::processRecord() - $GPGGA,170248.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170249.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170250.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170251.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170252.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170253.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 3.07 13.18 4.08 4.09 0 24894.60 02:33:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170254.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170255.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 2.06 12.40 3.99 4.10 0 10017.39 02:33:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170256.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170257.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.80 13.86 4.07 4.10 0 16124.32 02:33:32 m : AshtechGps::processRecord() - $GPGGA,170258.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170259.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170300.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170301.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170302.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170303.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 3.04 13.18 4.08 4.09 0 24894.27 02:33:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170304.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170305.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.95 12.50 3.99 4.10 0 10017.16 02:33:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170306.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170307.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 4.45 13.86 4.07 4.10 0 16124.05 02:33:42 m : AshtechGps::processRecord() - $GPGGA,170308.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,170309.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170310.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170311.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170312.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170313.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 3.44 13.18 4.08 4.09 0 24894.06 02:33:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170314.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170315.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 2.06 12.40 3.99 4.10 0 10017.00 02:33:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170316.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170317.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.98 13.86 4.07 4.10 0 16123.63 02:33:52 m : AshtechGps::processRecord() - $GPGGA,170318.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,170319.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170320.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170321.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170322.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170323.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 3.00 13.18 4.08 4.09 0 24893.73 02:33:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170324.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170325.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.62 2.10 12.50 3.99 4.10 0 10016.75 02:34:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170326.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : DepthEnvelope -- Measured altitude 9.398309 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.398309 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170327.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.398309 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.398309 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.75 3.66 13.86 4.07 4.10 0 16123.36 02:34:02 m : DepthEnvelope -- Measured altitude 9.398309 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.398309 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.398309 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,170328.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.765918 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.765918 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : DepthEnvelope -- Measured altitude 8.765918 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.765918 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.765918 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170329.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.765918 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.765918 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.277897 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.277897 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.277897 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170330.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.277897 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.277897 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.277897 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.277897 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.277897 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170331.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.745064 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.745064 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.745064 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.745064 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.745064 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170332.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.745064 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.745064 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.190122 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.190122 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.190122 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170333.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 1.26 13.08 4.08 4.09 0 24893.52 02:34:08 m : DepthEnvelope -- Measured altitude 7.190122 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.190122 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.190122 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.190122 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.560229 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170334.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.560229 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.560229 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.560229 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.560229 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.560229 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,170335.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.560229 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.70 0.83 12.50 3.99 4.10 0 10016.64 02:34:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.560229 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.137559 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.137559 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.137559 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170336.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.137559 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.137559 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.137559 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.137559 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.905636 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170337.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.905636 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.905636 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.91 1.36 13.76 4.07 4.10 0 16123.10 02:34:12 m : DepthEnvelope -- Measured altitude 5.905636 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.905636 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.905636 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170338.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.905636 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.905636 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : DepthEnvelope -- Measured altitude 5.753007 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.753007 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.753007 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170339.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.753007 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.753007 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.753007 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.753007 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.820459 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170340.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.820459 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.820459 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.820459 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.820459 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.820459 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170341.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.820459 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.025089 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.025089 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.025089 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.025089 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,170342.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.025089 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.025089 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.025089 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.025089 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.293891 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170343.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 1.00 13.18 4.08 4.09 0 24893.40 02:34:18 m : DepthEnvelope -- Measured altitude 6.293891 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.293891 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.293891 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.293891 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.293891 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170344.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.293891 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.661030 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.661030 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.661030 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.661030 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170345.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.661030 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.70 0.68 12.59 4.00 4.11 0 10016.56 02:34:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.661030 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.661030 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.777857 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.777857 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170346.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.777857 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.777857 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.777857 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.777857 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.777857 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170347.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.777857 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.894475 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.87 1.68 13.86 4.08 4.11 0 16122.97 02:34:22 m : DepthEnvelope -- Measured altitude 6.894475 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.894475 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.894475 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170348.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.894475 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.894475 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.053333 : DepthEnvelope -- Measured altitude 6.894475 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.149279 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.149279 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,170349.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.149279 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.149279 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.149279 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.149279 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.149279 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170350.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.311701 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.311701 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.311701 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.311701 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.311701 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170351.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.311701 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.311701 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.311701 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.597079 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.597079 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170352.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.597079 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.597079 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.597079 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.597079 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.597079 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170353.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 1.03 13.18 4.09 4.10 0 24893.33 02:34:28 m : DepthEnvelope -- Measured altitude 7.650042 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.650042 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.650042 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.650042 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.650042 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170354.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.650042 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.650042 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.919286 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.919286 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.919286 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170355.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.919286 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.70 0.79 12.50 4.00 4.11 0 10016.50 02:34:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.919286 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.919286 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.919286 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.919286 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,170356.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.912894 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.912894 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.912894 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.912894 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.912894 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170357.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.912894 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.912894 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.87 1.39 13.76 4.08 4.11 0 16122.78 02:34:32 m : DepthEnvelope -- Measured altitude 8.169791 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.169791 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.169791 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170358.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.169791 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.169791 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : DepthEnvelope -- Measured altitude 8.169791 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.169791 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.064389 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170359.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.064389 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.064389 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.064389 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.064389 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.064389 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170400.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.064389 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.064389 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.999711 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.999711 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.999711 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170401.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.999711 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.999711 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.999711 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.999711 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.055798 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170402.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.055798 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.055798 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.055798 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.055798 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.055798 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,170403.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 0.89 13.18 4.09 4.10 0 24893.21 02:34:38 m : DepthEnvelope -- Measured altitude 8.055798 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.899569 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.899569 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.899569 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.899569 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170404.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.899569 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.899569 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.899569 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.899569 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.081001 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170405.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.081001 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.74 0.54 12.50 4.00 4.11 0 10016.43 02:34:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.081001 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.081001 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.081001 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.081001 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170406.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.081001 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.164188 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.164188 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.164188 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.164188 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170407.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.164188 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.164188 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.91 1.36 13.67 4.08 4.11 0 16122.68 02:34:42 m : DepthEnvelope -- Measured altitude 8.164188 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.164188 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.186065 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170408.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.186065 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.186065 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : DepthEnvelope -- Measured altitude 8.186065 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.186065 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.186065 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170409.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.186065 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.551988 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.551988 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.551988 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.551988 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,170410.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.551988 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.551988 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.551988 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.634186 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.634186 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170411.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.634186 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.634186 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.634186 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.634186 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.634186 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170412.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.634186 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.886260 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.886260 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.886260 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.886260 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170413.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 0.92 13.08 4.09 4.10 0 24893.13 02:34:48 m : DepthEnvelope -- Measured altitude 8.886260 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.886260 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.886260 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.249160 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.249160 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170414.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.249160 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.249160 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.249160 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.249160 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.249160 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170415.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.382939 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.74 0.54 12.40 4.00 4.11 0 10016.39 02:34:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.382939 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.382939 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.382939 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.382939 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170416.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.382939 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.382939 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.382939 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.838000 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.838000 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,170417.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.838000 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.838000 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.87 1.36 13.76 4.08 4.11 0 16122.51 02:34:52 m : DepthEnvelope -- Measured altitude 9.838000 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.838000 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.838000 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170418.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.814834 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.814834 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : DepthEnvelope -- Measured altitude 9.814834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.814834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.814834 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170419.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.814834 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.814834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.080291 over abort altitude 10.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170420.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170421.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170422.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170423.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.71 1.18 13.08 4.09 4.10 0 24893.04 02:34:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170424.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170425.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.66 1.77 12.40 3.99 4.10 0 10016.29 02:35:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170426.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170427.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.66 13.76 4.07 4.10 0 16122.33 02:35:02 m : AshtechGps::processRecord() - $GPGGA,170428.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.050000 : AshtechGps::processRecord() - $GPGGA,170429.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170430.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170431.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170432.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170433.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 3.75 13.08 4.08 4.09 0 24892.82 02:35:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170434.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.843618 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.843618 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.843618 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.843618 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170435.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.843618 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.59 2.67 12.40 3.99 4.10 0 10016.11 02:35:10 m : DepthEnvelope -- Measured altitude 9.843618 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.843618 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.071835 over abort altitude 10.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,170436.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170437.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.62 13.67 4.07 4.10 0 16121.89 02:35:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170438.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,170439.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170440.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170441.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170442.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170443.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 3.33 13.18 4.08 4.09 0 24892.41 02:35:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170444.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170445.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 2.42 12.40 3.99 4.10 0 10015.87 02:35:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170446.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170447.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.91 13.67 4.07 4.10 0 16121.64 02:35:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170448.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,170449.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170450.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170451.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170452.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170453.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 3.63 13.08 4.08 4.09 0 24892.17 02:35:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170454.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170455.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.62 2.21 12.40 3.99 4.10 0 10015.71 02:35:30 m : AshtechGps::processRecord() - $GPGGA,170456.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170457.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.34 13.67 4.07 4.10 0 16121.22 02:35:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170458.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170459.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170500.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170501.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170502.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170503.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 3.00 13.18 4.08 4.09 0 24891.81 02:35:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170504.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170505.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 2.02 12.40 3.99 4.10 0 10015.49 02:35:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170506.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170507.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.79 3.37 13.67 4.07 4.10 0 16120.97 02:35:42 m : AshtechGps::processRecord() - $GPGGA,170508.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170509.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170510.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170511.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170512.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170513.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 3.19 13.08 4.08 4.09 0 24891.58 02:35:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170514.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170515.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 2.02 12.40 3.99 4.10 0 10015.34 02:35:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170516.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170517.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.41 13.67 4.07 4.10 0 16120.57 02:35:52 m : AshtechGps::processRecord() - $GPGGA,170518.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170519.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170520.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170521.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170522.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170523.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 3.19 12.98 4.08 4.09 0 24891.21 02:35:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170524.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170525.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 2.60 12.40 3.98 4.10 0 10015.11 02:36:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170526.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170527.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.23 13.67 4.07 4.10 0 16120.28 02:36:02 m : AshtechGps::processRecord() - $GPGGA,170528.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.043333 : AshtechGps::processRecord() - $GPGGA,170529.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170530.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170531.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170532.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170533.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 3.00 12.98 4.08 4.09 0 24890.99 02:36:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170534.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170535.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 2.17 12.40 3.98 4.10 0 10014.96 02:36:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170536.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170537.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.41 13.67 4.07 4.10 0 16119.89 02:36:12 m : AshtechGps::processRecord() - $GPGGA,170538.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.043333 : AshtechGps::processRecord() - $GPGGA,170539.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170540.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170541.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170542.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170543.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 3.00 12.98 4.08 4.09 0 24890.64 02:36:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170544.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170545.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.62 1.91 12.40 3.99 4.10 0 10014.75 02:36:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170546.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170547.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.16 13.67 4.07 4.10 0 16119.64 02:36:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170548.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,170549.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170550.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170551.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170552.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170553.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 3.15 12.98 4.08 4.09 0 24890.41 02:36:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170554.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170555.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 1.91 12.40 3.99 4.10 0 10014.56 02:36:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170556.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170557.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.19 13.67 4.07 4.10 0 16119.26 02:36:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170558.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,170559.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170600.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170601.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170602.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170603.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 3.19 12.98 4.08 4.09 0 24890.08 02:36:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170604.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170605.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 2.13 12.40 3.98 4.10 0 10014.33 02:36:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170606.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170607.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.34 13.57 4.07 4.09 0 16119.00 02:36:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170608.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.043333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170609.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170610.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170611.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170612.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170613.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 3.37 12.89 4.08 4.09 0 24889.82 02:36:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170614.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170615.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 1.99 12.40 3.98 4.10 0 10014.17 02:36:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170616.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,170617.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.75 3.62 13.57 4.07 4.09 0 16118.62 02:36:52 m : AshtechGps::processRecord() - $GPGGA,170618.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.043333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170619.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170620.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170621.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170622.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170623.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 3.41 12.98 4.08 4.09 0 24889.43 02:36:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170624.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170625.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 2.28 12.40 3.98 4.10 0 10013.96 02:37:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170626.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170627.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 3.77 13.57 4.07 4.09 0 16118.36 02:37:02 m : AshtechGps::processRecord() - $GPGGA,170628.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.043333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170629.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170630.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170631.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170632.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170633.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 3.59 12.89 4.08 4.09 0 24889.18 02:37:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170634.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170635.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.59 2.24 12.40 3.98 4.10 0 10013.79 02:37:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170636.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170637.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.37 13.67 4.07 4.09 0 16117.95 02:37:12 m : AshtechGps::processRecord() - $GPGGA,170638.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.043333 : AshtechGps::processRecord() - $GPGGA,170639.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170640.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170641.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170642.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170643.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 3.78 12.98 4.08 4.09 0 24888.76 02:37:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170644.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170645.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 2.96 12.40 3.98 4.10 0 10013.54 02:37:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170646.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170647.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 3.73 13.67 4.07 4.09 0 16117.67 02:37:22 m : AshtechGps::processRecord() - $GPGGA,170648.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.043333 : AshtechGps::processRecord() - $GPGGA,170649.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170650.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170651.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170652.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170653.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 3.56 12.98 4.07 4.08 0 24888.52 02:37:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170654.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170655.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.59 2.21 12.40 3.98 4.10 0 10013.38 02:37:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170656.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170657.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.71 3.88 13.67 4.07 4.09 0 16117.27 02:37:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170658.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.040000 : AshtechGps::processRecord() - $GPGGA,170659.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170700.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170701.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170702.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170703.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 3.48 12.98 4.07 4.08 0 24888.15 02:37:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170704.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170705.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.64 12.40 3.98 4.10 0 10013.15 02:37:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170706.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170707.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 3.91 13.67 4.07 4.09 0 16117.00 02:37:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170708.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.040000 : AshtechGps::processRecord() - $GPGGA,170709.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170710.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170711.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170712.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170713.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 3.15 12.98 4.07 4.09 0 24887.91 02:37:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170714.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170715.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.59 2.35 12.30 3.98 4.10 0 10012.98 02:37:50 m : AshtechGps::processRecord() - $GPGGA,170716.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170717.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 3.48 13.67 4.07 4.09 0 16116.59 02:37:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170718.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.040000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170719.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170720.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170721.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170722.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170723.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 3.44 12.98 4.07 4.09 0 24887.54 02:37:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170724.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170725.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.59 2.28 12.40 3.98 4.10 0 10012.74 02:38:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170726.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170727.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.75 3.70 13.67 4.07 4.09 0 16116.31 02:38:02 m : AshtechGps::processRecord() - $GPGGA,170728.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.040000 : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170729.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170730.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170731.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170732.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170733.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 3.63 12.98 4.08 4.09 0 24887.25 02:38:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170734.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170735.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.59 2.17 12.30 3.98 4.10 0 10012.58 02:38:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170736.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170737.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 3.41 13.67 4.07 4.09 0 16115.85 02:38:12 m : AshtechGps::processRecord() - $GPGGA,170738.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.043333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170739.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170740.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170741.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170742.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170743.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 3.41 12.98 4.08 4.09 0 24886.88 02:38:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170744.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170745.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.59 2.31 12.40 3.98 4.10 0 10012.33 02:38:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170746.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170747.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.44 13.76 4.07 4.09 0 16115.58 02:38:22 m : AshtechGps::processRecord() - $GPGGA,170748.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.043333 : AshtechGps::processRecord() - $GPGGA,170749.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170750.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170751.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170752.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170753.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 3.97 12.98 4.07 4.08 0 24886.63 02:38:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170754.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170755.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.62 2.21 12.30 3.98 4.10 0 10012.17 02:38:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170756.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170757.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 4.60 13.76 4.07 4.09 0 16115.17 02:38:32 m : AshtechGps::processRecord() - $GPGGA,170758.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.040000 : AshtechGps::processRecord() - $GPGGA,170759.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170800.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170801.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170802.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170803.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 3.37 13.08 4.07 4.08 0 24886.26 02:38:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170804.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170805.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.59 2.39 12.40 3.98 4.10 0 10011.91 02:38:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170806.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170807.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 3.91 13.76 4.07 4.09 0 16114.90 02:38:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170808.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.040000 : AshtechGps::processRecord() - $GPGGA,170809.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170810.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170811.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170812.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170813.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 3.22 13.08 4.07 4.08 0 24885.99 02:38:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170814.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170815.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.59 2.13 12.40 3.98 4.10 0 10011.74 02:38:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170816.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170817.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 3.66 13.67 4.07 4.09 0 16114.47 02:38:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170818.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.040000 : AshtechGps::processRecord() - $GPGGA,170819.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170820.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170821.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170822.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170823.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 3.63 13.08 4.07 4.08 0 24885.63 02:38:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170824.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170825.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.59 2.28 12.40 3.98 4.10 0 10011.50 02:39:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170826.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170827.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 3.41 13.67 4.07 4.09 0 16114.21 02:39:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170828.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.040000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170829.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170830.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170831.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170832.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.976509 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.976509 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.976509 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.976509 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.976509 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170833.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 3.52 12.98 4.07 4.08 0 24885.40 02:39:08 m : DepthEnvelope -- Measured altitude 9.976509 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.976509 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.414738 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.414738 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.414738 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170834.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.414738 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.414738 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.414738 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.414738 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.976571 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170835.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.976571 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.62 1.23 12.40 3.98 4.10 0 10011.34 02:39:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.976571 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.976571 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.976571 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.976571 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,170836.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.976571 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.976571 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.484420 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.484420 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.484420 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170837.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.484420 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.484420 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.83 1.50 13.67 4.07 4.09 0 16113.89 02:39:12 m : DepthEnvelope -- Measured altitude 8.484420 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.484420 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.875327 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170838.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.875327 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.875327 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.040000 : DepthEnvelope -- Measured altitude 7.875327 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.875327 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.875327 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170839.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.875327 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.233265 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.233265 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.233265 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.233265 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170840.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.233265 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.233265 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.233265 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.233265 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.756284 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170841.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.756284 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.756284 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.756284 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.756284 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.756284 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170842.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.756284 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.417471 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.417471 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.417471 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.417471 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,170843.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 1.37 13.08 4.07 4.08 0 24885.20 02:39:18 m : DepthEnvelope -- Measured altitude 6.417471 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.417471 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.417471 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.359424 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.359424 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170844.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.359424 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.359424 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.359424 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.359424 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.359424 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170845.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.359424 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.66 0.57 12.40 4.00 4.11 0 10011.26 02:39:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.306719 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.306719 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.306719 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.306719 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170846.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.306719 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.306719 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.306719 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.506548 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.506548 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170847.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.506548 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.506548 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.83 1.36 13.76 4.08 4.10 0 16113.79 02:39:22 m : DepthEnvelope -- Measured altitude 6.506548 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.506548 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.506548 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170848.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.506548 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.646609 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.050000 : DepthEnvelope -- Measured altitude 6.646609 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.646609 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.646609 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170849.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.646609 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.646609 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.646609 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.927891 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.927891 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,170850.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.927891 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.927891 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.927891 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.927891 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.927891 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170851.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.195814 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.195814 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.195814 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.195814 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.195814 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170852.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.195814 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.195814 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.195814 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.297687 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.297687 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170853.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.67 0.89 13.08 4.09 4.10 0 24885.11 02:39:28 m : DepthEnvelope -- Measured altitude 7.297687 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.297687 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.297687 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.297687 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.297687 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170854.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.534723 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.534723 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.534723 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.534723 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.534723 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170855.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.534723 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.70 0.57 12.40 4.00 4.11 0 10011.21 02:39:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.534723 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.558040 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.558040 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.558040 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170856.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.558040 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.558040 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.558040 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.558040 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.558040 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,170857.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.781477 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.781477 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.83 1.72 13.67 4.08 4.10 0 16113.62 02:39:32 m : DepthEnvelope -- Measured altitude 7.781477 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.781477 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.781477 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170858.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.781477 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.781477 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : DepthEnvelope -- Measured altitude 7.862888 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.862888 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.862888 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170859.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.862888 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.862888 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.862888 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.862888 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.069318 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170900.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.069318 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.069318 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.069318 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.069318 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.069318 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170901.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.069318 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.069318 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.237068 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.237068 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.237068 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170902.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.237068 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.237068 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.237068 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.237068 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.287594 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170903.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 1.29 13.08 4.09 4.10 0 24885.02 02:39:38 m : DepthEnvelope -- Measured altitude 8.287594 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.287594 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.287594 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.287594 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.287594 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,170904.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.287594 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.365042 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.365042 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.365042 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.365042 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170905.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.365042 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.70 0.72 12.40 4.00 4.11 0 10011.13 02:39:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.365042 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.365042 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.365042 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.338821 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170906.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.338821 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.338821 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.338821 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.338821 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.338821 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170907.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.338821 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.286559 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.87 1.36 13.67 4.08 4.10 0 16113.51 02:39:42 m : DepthEnvelope -- Measured altitude 8.286559 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.286559 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.286559 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170908.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.286559 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.286559 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : DepthEnvelope -- Measured altitude 8.286559 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.286559 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.506140 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170909.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.506140 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.506140 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.506140 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.506140 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.506140 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170910.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.506140 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.578425 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.578425 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.578425 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.578425 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,170911.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.578425 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.578425 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.578425 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.524473 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.524473 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170912.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.524473 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.524473 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.524473 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.524473 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.524473 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170913.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 1.11 13.08 4.09 4.10 0 24884.95 02:39:48 m : DepthEnvelope -- Measured altitude 8.524473 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.722540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.722540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.722540 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.722540 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170914.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.722540 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.722540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.722540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.847351 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.847351 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170915.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.847351 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.70 0.57 12.40 4.00 4.11 0 10011.08 02:39:50 m : DepthEnvelope -- Measured altitude 8.847351 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.847351 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.847351 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.847351 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170916.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.948856 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.948856 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.948856 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.948856 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.948856 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170917.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.948856 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.948856 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.87 1.32 13.67 4.08 4.10 0 16113.35 02:39:52 m : DepthEnvelope -- Measured altitude 8.948856 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.205625 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.205625 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,170918.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.205625 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.205625 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : DepthEnvelope -- Measured altitude 9.205625 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.205625 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.205625 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170919.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.178419 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.178419 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.178419 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.178419 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.178419 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170920.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.178419 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.178419 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.545897 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.545897 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.545897 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170921.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.545897 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.545897 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.545897 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.545897 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.545897 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170922.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.843324 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.843324 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.843324 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.843324 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.843324 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170923.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 1.11 12.98 4.09 4.10 0 24884.86 02:39:58 m : DepthEnvelope -- Measured altitude 9.843324 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.843324 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.100238 over abort altitude 10.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170924.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170925.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.70 0.57 12.30 4.00 4.11 0 10011.01 02:40:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170926.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170927.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.83 2.12 13.67 4.08 4.10 0 16113.25 02:40:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170928.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : AshtechGps::processRecord() - $GPGGA,170929.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170930.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170931.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170932.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170933.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 3.41 12.98 4.09 4.10 0 24884.73 02:40:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170934.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170935.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.59 2.31 12.40 4.00 4.11 0 10010.86 02:40:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170936.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170937.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.71 3.84 13.57 4.08 4.10 0 16112.84 02:40:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170938.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.056667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170939.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170940.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170941.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170942.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170943.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 3.33 12.98 4.09 4.10 0 24884.35 02:40:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170944.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170945.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.62 2.10 12.40 3.98 4.09 0 10010.59 02:40:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170946.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170947.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.75 3.62 13.67 4.07 4.09 0 16112.55 02:40:22 m : AshtechGps::processRecord() - $GPGGA,170948.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.046667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170949.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170950.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170951.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170952.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170953.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 3.00 12.89 4.08 4.08 0 24884.11 02:40:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170954.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170955.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 1.99 12.40 3.98 4.09 0 10010.40 02:40:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170956.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170957.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.30 13.67 4.07 4.09 0 16112.14 02:40:32 m : AshtechGps::processRecord() - $GPGGA,170958.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.043333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,170959.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171000.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171001.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171002.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171003.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 3.59 12.89 4.08 4.08 0 24883.78 02:40:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171004.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171005.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 1.88 12.40 3.98 4.10 0 10010.12 02:40:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171006.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171007.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.12 13.57 4.07 4.09 0 16111.87 02:40:42 m : AshtechGps::processRecord() - $GPGGA,171008.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.043333 : AshtechGps::processRecord() - $GPGGA,171009.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171010.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171011.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171012.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171013.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 3.30 12.98 4.08 4.09 0 24883.56 02:40:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171014.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171015.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.62 1.88 12.40 3.98 4.10 0 10009.97 02:40:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171016.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171017.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 3.30 13.57 4.07 4.09 0 16111.46 02:40:52 m : AshtechGps::processRecord() - $GPGGA,171018.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.043333 : AshtechGps::processRecord() - $GPGGA,171019.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171020.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171021.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171022.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171023.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 3.30 12.98 4.08 4.09 0 24883.25 02:40:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171024.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171025.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.62 1.84 12.30 3.98 4.10 0 10009.72 02:41:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171026.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171027.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 3.55 13.57 4.07 4.09 0 16111.21 02:41:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171028.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.043333 : AshtechGps::processRecord() - $GPGGA,171029.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171030.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171031.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171032.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171033.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 2.89 12.89 4.08 4.09 0 24883.03 02:41:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171034.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171035.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 1.84 12.30 3.98 4.10 0 10009.58 02:41:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171036.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171037.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 3.12 13.57 4.07 4.09 0 16110.81 02:41:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171038.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.043333 : AshtechGps::processRecord() - $GPGGA,171039.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171040.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171041.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171042.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171043.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 2.89 12.89 4.08 4.09 0 24882.73 02:41:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171044.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171045.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 1.81 12.40 3.98 4.10 0 10009.35 02:41:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171046.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171047.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 3.05 13.57 4.07 4.09 0 16110.56 02:41:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171048.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.043333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171049.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171050.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171051.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171052.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171053.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 3.22 12.98 4.08 4.09 0 24882.52 02:41:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171054.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171055.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.59 2.17 12.40 3.98 4.10 0 10009.18 02:41:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171056.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171057.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.79 3.41 13.57 4.07 4.09 0 16110.16 02:41:32 m : AshtechGps::processRecord() - $GPGGA,171058.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.043333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171059.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171100.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171101.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171102.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171103.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 3.00 12.98 4.08 4.09 0 24882.17 02:41:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171104.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171105.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 1.84 12.40 3.98 4.10 0 10008.91 02:41:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171106.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171107.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 3.19 13.47 4.07 4.09 0 16109.90 02:41:42 m : AshtechGps::processRecord() - $GPGGA,171108.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.043333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171109.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171110.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171111.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171112.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171113.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 3.11 12.79 4.08 4.09 0 24881.96 02:41:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171114.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171115.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.59 1.88 12.40 3.98 4.10 0 10008.75 02:41:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171116.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171117.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 3.12 13.47 4.07 4.09 0 16109.49 02:41:52 m : AshtechGps::processRecord() - $GPGGA,171118.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.043333 : AshtechGps::processRecord() - $GPGGA,171119.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171120.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171121.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171122.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171123.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 3.00 12.89 4.08 4.09 0 24881.61 02:41:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171124.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171125.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.59 2.13 12.30 3.98 4.09 0 10008.51 02:42:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171126.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171127.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.71 3.44 13.47 4.06 4.09 0 16109.21 02:42:02 m : AshtechGps::processRecord() - $GPGGA,171128.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.039999 : AshtechGps::processRecord() - $GPGGA,171129.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171130.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171131.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171132.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171133.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 3.56 12.89 4.07 4.08 0 24881.30 02:42:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171134.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171135.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.59 2.17 12.30 3.98 4.09 0 10008.33 02:42:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171136.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171137.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.71 3.41 13.47 4.06 4.09 0 16108.78 02:42:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171138.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : AshtechGps::processRecord() - $GPGGA,171139.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171140.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171141.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171142.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171143.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 3.15 12.89 4.07 4.08 0 24880.93 02:42:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171144.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171145.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.59 2.02 12.30 3.98 4.09 0 10008.08 02:42:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171146.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171147.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 3.34 13.57 4.06 4.09 0 16108.50 02:42:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171148.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : AshtechGps::processRecord() - $GPGGA,171149.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171150.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171151.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171152.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171153.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 3.48 12.79 4.07 4.08 0 24880.69 02:42:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171154.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171155.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.31 12.30 3.98 4.09 0 10007.90 02:42:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171156.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171157.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 3.48 13.57 4.06 4.09 0 16108.06 02:42:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171158.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171159.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171200.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171201.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171202.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171203.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 3.37 12.98 4.07 4.08 0 24880.29 02:42:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171204.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171205.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.59 2.17 12.30 3.98 4.09 0 10007.64 02:42:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171206.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171207.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.68 3.73 13.67 4.06 4.09 0 16107.79 02:42:42 m : AshtechGps::processRecord() - $GPGGA,171208.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171209.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171210.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171211.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171212.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171213.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 3.48 12.98 4.07 4.08 0 24880.04 02:42:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171214.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171215.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.31 12.30 3.98 4.09 0 10007.47 02:42:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171216.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171217.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.71 3.73 13.67 4.06 4.09 0 16107.35 02:42:52 m : AshtechGps::processRecord() - $GPGGA,171218.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171219.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171220.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171221.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171222.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171223.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 3.59 12.89 4.07 4.08 0 24879.68 02:42:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171224.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171225.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.35 12.20 3.98 4.09 0 10007.21 02:43:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171226.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171227.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 3.44 13.67 4.06 4.09 0 16107.05 02:43:02 m : AshtechGps::processRecord() - $GPGGA,171228.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : AshtechGps::processRecord() - $GPGGA,171229.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171230.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171231.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171232.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171233.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 3.26 12.89 4.07 4.08 0 24879.43 02:43:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171234.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171235.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.55 2.67 12.30 3.98 4.09 0 10007.03 02:43:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171236.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171237.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.71 3.44 13.67 4.06 4.09 0 16106.63 02:43:12 m : AshtechGps::processRecord() - $GPGGA,171238.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : AshtechGps::processRecord() - $GPGGA,171239.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171240.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171241.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171242.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171243.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 3.26 12.98 4.07 4.08 0 24879.09 02:43:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171244.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171245.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.47 3.00 12.30 3.98 4.09 0 10006.74 02:43:20 m : AshtechGps::processRecord() - $GPGGA,171246.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171247.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.71 3.48 13.67 4.06 4.09 0 16106.34 02:43:22 m : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171248.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : AshtechGps::processRecord() - $GPGGA,171249.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171250.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171251.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171252.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171253.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 3.33 12.98 4.07 4.08 0 24878.85 02:43:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171254.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171255.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.59 2.06 12.30 3.98 4.09 0 10006.55 02:43:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171256.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171257.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.71 3.55 13.67 4.06 4.09 0 16105.91 02:43:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171258.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : AshtechGps::processRecord() - $GPGGA,171259.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171300.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171301.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171302.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171303.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 3.07 12.98 4.07 4.08 0 24878.49 02:43:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171304.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171305.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.59 2.10 12.30 3.98 4.09 0 10006.30 02:43:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171306.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171307.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 3.37 13.67 4.06 4.09 0 16105.64 02:43:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171308.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171309.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171310.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171311.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171312.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171313.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 3.22 12.98 4.07 4.08 0 24878.25 02:43:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171314.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171315.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.17 12.30 3.98 4.09 0 10006.14 02:43:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171316.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171317.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.71 3.41 13.67 4.06 4.09 0 16105.23 02:43:52 m : AshtechGps::processRecord() - $GPGGA,171318.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171319.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171320.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171321.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171322.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171323.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 3.11 12.98 4.07 4.08 0 24877.88 02:43:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171324.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171325.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.59 2.75 12.30 3.98 4.09 0 10005.89 02:44:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171326.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171327.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.71 3.41 13.67 4.06 4.09 0 16104.96 02:44:02 m : AshtechGps::processRecord() - $GPGGA,171328.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171329.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171330.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171331.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : DepthEnvelope -- Measured altitude 9.759533 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.759533 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171332.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.759533 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.759533 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.759533 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.759533 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.759533 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171333.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 3.37 12.98 4.07 4.08 0 24877.64 02:44:08 m : DepthEnvelope -- Measured altitude 9.055789 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.055789 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.055789 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.055789 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.055789 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171334.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.055789 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.055789 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.559585 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.559585 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.559585 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171335.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.559585 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.62 0.94 12.30 3.98 4.09 0 10005.72 02:44:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.559585 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.559585 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.559585 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.559585 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171336.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.245450 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.245450 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.245450 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.245450 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.245450 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171337.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.245450 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.245450 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.83 1.47 13.67 4.06 4.09 0 16104.63 02:44:12 m : DepthEnvelope -- Measured altitude 7.545797 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.545797 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.545797 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171338.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.545797 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.545797 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : DepthEnvelope -- Measured altitude 7.545797 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.545797 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.886668 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171339.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.886668 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.886668 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.886668 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.886668 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.886668 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171340.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.886668 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.886668 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.347881 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.347881 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.347881 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171341.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.347881 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.347881 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.347881 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.347881 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.036214 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171342.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.036214 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.036214 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.036214 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.036214 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.036214 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171343.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 1.26 13.08 4.07 4.08 0 24877.42 02:44:18 m : DepthEnvelope -- Measured altitude 6.036214 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.751613 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.751613 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.751613 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.751613 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171344.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.751613 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.751613 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.751613 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.751613 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.761292 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171345.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.761292 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.66 0.72 12.30 4.00 4.10 0 10005.66 02:44:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.761292 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.761292 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.761292 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.761292 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171346.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.761292 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.785844 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.785844 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.785844 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.785844 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171347.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.785844 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.785844 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.79 1.29 13.67 4.08 4.10 0 16104.53 02:44:22 m : DepthEnvelope -- Measured altitude 5.785844 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.090896 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.090896 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171348.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.090896 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.090896 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.050000 : DepthEnvelope -- Measured altitude 6.090896 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.090896 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.090896 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171349.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.090896 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.422814 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.422814 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.422814 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.422814 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171350.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.422814 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.422814 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.422814 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.606659 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.606659 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171351.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.606659 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.606659 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.606659 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.606659 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.606659 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171352.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.691362 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.691362 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.691362 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.691362 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.691362 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171353.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 1.14 12.98 4.08 4.10 0 24877.33 02:44:28 m : DepthEnvelope -- Measured altitude 6.691362 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.691362 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.691362 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.887941 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.887941 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171354.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.887941 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.887941 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.887941 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.887941 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.887941 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171355.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.022289 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.66 0.61 12.30 4.00 4.10 0 10005.62 02:44:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.022289 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.022289 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.022289 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.022289 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171356.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.022289 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.022289 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.022289 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.300005 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.300005 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171357.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.300005 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.300005 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.83 1.39 13.57 4.08 4.10 0 16104.38 02:44:32 m : DepthEnvelope -- Measured altitude 7.300005 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.300005 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.300005 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171358.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.440978 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.440978 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.053333 : DepthEnvelope -- Measured altitude 7.440978 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.440978 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.440978 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171359.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.440978 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.440978 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.437489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.437489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.437489 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171400.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.437489 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.437489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.437489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.437489 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.437489 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171401.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.754480 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.754480 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.754480 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.754480 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.754480 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171402.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.754480 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.754480 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.718191 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.718191 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.718191 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171403.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 0.96 12.98 4.08 4.10 0 24877.19 02:44:38 m : DepthEnvelope -- Measured altitude 7.718191 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.718191 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.718191 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.718191 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.961109 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171404.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.961109 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.961109 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.961109 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.961109 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.961109 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171405.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.961109 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.66 0.86 12.30 4.00 4.10 0 10005.55 02:44:40 m : DepthEnvelope -- Measured altitude 7.961109 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.952209 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.952209 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.952209 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171406.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.952209 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.952209 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.952209 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.952209 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.054793 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171407.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.054793 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.054793 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.83 1.36 13.67 4.08 4.10 0 16104.27 02:44:42 m : DepthEnvelope -- Measured altitude 8.054793 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.054793 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.054793 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171408.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.054793 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.976373 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.053333 : DepthEnvelope -- Measured altitude 7.976373 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.976373 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.976373 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171409.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.976373 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.976373 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.976373 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.976373 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.952794 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171410.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.952794 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.952794 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.952794 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.952794 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.952794 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171411.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.952794 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.979427 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.979427 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.979427 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.979427 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171412.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.979427 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.979427 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.979427 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.979427 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.140895 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171413.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 0.92 12.98 4.08 4.10 0 24877.11 02:44:48 m : DepthEnvelope -- Measured altitude 8.140895 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.140895 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.140895 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.140895 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.140895 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171414.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.140895 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.215983 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.215983 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.215983 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.215983 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171415.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.215983 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.66 1.19 12.30 4.00 4.10 0 10005.51 02:44:50 m : DepthEnvelope -- Measured altitude 8.215983 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.215983 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.360757 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.360757 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171416.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.360757 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.360757 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.360757 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.360757 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.360757 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171417.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.360757 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.512693 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.83 1.36 13.57 4.08 4.10 0 16104.12 02:44:52 m : DepthEnvelope -- Measured altitude 8.512693 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.512693 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.512693 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171418.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.512693 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.512693 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.053333 : DepthEnvelope -- Measured altitude 8.512693 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.792060 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.792060 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171419.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.792060 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.792060 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.792060 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.792060 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.792060 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171420.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.248688 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.248688 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.248688 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.248688 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.248688 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171421.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.248688 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.248688 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.248688 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.262173 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.262173 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171422.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.262173 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.262173 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.262173 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.262173 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.262173 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171423.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 0.92 12.89 4.08 4.10 0 24877.01 02:44:58 m : DepthEnvelope -- Measured altitude 9.571095 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.571095 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.571095 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.571095 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.571095 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171424.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.571095 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.571095 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.773863 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.773863 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.773863 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171425.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.773863 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.66 0.75 12.30 4.00 4.11 0 10005.45 02:45:00 m : DepthEnvelope -- Measured altitude 9.773863 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.773863 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.773863 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.773863 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171426.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.922573 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.922573 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.922573 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.922573 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.922573 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171427.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.922573 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.922573 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.83 1.39 13.57 4.08 4.10 0 16104.02 02:45:02 m : DepthEnvelope -- altitude 10.163358 over abort altitude 10.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,171428.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.053333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171429.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171430.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171431.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171432.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171433.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 2.67 12.89 4.08 4.10 0 24876.93 02:45:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171434.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171435.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.28 12.30 4.00 4.11 0 10005.36 02:45:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171436.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171437.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.68 4.70 13.57 4.08 4.10 0 16103.71 02:45:12 m : AshtechGps::processRecord() - $GPGGA,171438.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.053333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171439.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171440.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171441.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171442.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171443.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 3.26 12.89 4.08 4.10 0 24876.58 02:45:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171444.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171445.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.59 2.39 12.30 3.98 4.09 0 10005.09 02:45:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171446.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171447.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.71 3.77 13.57 4.06 4.09 0 16103.42 02:45:22 m : AshtechGps::processRecord() - $GPGGA,171448.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.039999 : AshtechGps::processRecord() - $GPGGA,171449.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171450.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171451.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171452.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171453.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 3.04 12.98 4.07 4.08 0 24876.34 02:45:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171454.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171455.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.59 1.95 12.30 3.98 4.09 0 10004.92 02:45:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171456.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171457.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.71 3.62 13.57 4.06 4.09 0 16103.00 02:45:32 m : AshtechGps::processRecord() - $GPGGA,171458.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : AshtechGps::processRecord() - $GPGGA,171459.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171500.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171501.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171502.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171503.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 2.78 12.98 4.07 4.08 0 24876.02 02:45:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171504.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171505.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.59 1.99 12.20 3.98 4.09 0 10004.67 02:45:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171506.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171507.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.71 3.55 13.57 4.07 4.09 0 16102.69 02:45:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171508.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.040000 : AshtechGps::processRecord() - $GPGGA,171509.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171510.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171511.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171512.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171513.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 2.70 12.89 4.07 4.08 0 24875.82 02:45:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171514.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171515.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.59 1.99 12.30 3.98 4.09 0 10004.51 02:45:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171516.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171517.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 3.34 13.47 4.07 4.09 0 16102.29 02:45:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171518.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.040000 : AshtechGps::processRecord() - $GPGGA,171519.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171520.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171521.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171522.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171523.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 2.70 12.79 4.07 4.08 0 24875.52 02:45:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171524.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171525.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.59 1.88 12.30 3.98 4.09 0 10004.28 02:46:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171526.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171527.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.71 3.37 13.47 4.06 4.09 0 16102.02 02:46:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171528.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171529.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171530.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171531.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171532.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171533.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 2.63 12.89 4.07 4.08 0 24875.32 02:46:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171534.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171535.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.59 1.91 12.30 3.98 4.09 0 10004.10 02:46:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171536.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171537.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.71 3.34 13.47 4.06 4.09 0 16101.65 02:46:12 m : AshtechGps::processRecord() - $GPGGA,171538.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171539.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171540.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171541.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171542.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171543.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 2.67 12.79 4.07 4.08 0 24875.03 02:46:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171544.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171545.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.59 2.10 12.30 3.98 4.09 0 10003.85 02:46:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.16 speedMode=1 speed=1.50 : Waypoint has set the state to finished. : Waypoint (4074920.0, 600512.0), reached at t = 4690.80 (wplog) : Vehicle Position is error is (0.2, 0.4) : LayeredControl::execute() -- (t = 4690.798658) Behavior waypoint_yoyo:85077 has changed to state Finished : LayeredControl - sending BehaviorFinished:85077 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,171546.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : *** Stack empty after processing. Waiting on VCS... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171547.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 3.37 13.47 4.06 4.09 0 16101.37 02:46:22 m : AshtechGps::processRecord() - $GPGGA,171548.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion ascend after pos 2 : DynoLayeredControl::insert - stack now contains 17 behaviors : LayeredControl::execute() -- (t = 4693.738457) Behavior ascend:1049645 has changed to state Active : LayeredControl - ascend BehaviorStarted:1049645 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,171549.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171550.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171551.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171552.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171553.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 2.70 12.89 4.07 4.08 0 24874.83 02:46:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171554.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171555.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.59 1.91 12.20 3.98 4.09 0 10003.70 02:46:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171556.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171557.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.71 3.08 13.47 4.06 4.09 0 16100.99 02:46:32 m : AshtechGps::processRecord() - $GPGGA,171558.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : AshtechGps::processRecord() - $GPGGA,171559.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171600.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171601.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171602.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171603.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 2.74 12.89 4.07 4.08 0 24874.53 02:46:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171604.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171605.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.31 12.30 3.98 4.09 0 10003.47 02:46:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171606.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171607.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 3.23 13.47 4.06 4.09 0 16100.74 02:46:42 m : AshtechGps::processRecord() - $GPGGA,171608.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : AshtechGps::processRecord() - $GPGGA,171609.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171610.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171611.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171612.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171613.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 2.85 12.79 4.07 4.08 0 24874.33 02:46:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171614.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171615.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.59 1.81 12.30 3.98 4.09 0 10003.32 02:46:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171616.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171617.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 3.12 13.47 4.06 4.09 0 16100.36 02:46:52 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171618.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : AshtechGps::processRecord() - $GPGGA,171619.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171620.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171621.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171622.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171623.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 2.67 12.79 4.07 4.08 0 24874.04 02:46:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171624.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171625.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.10 12.20 3.98 4.09 0 10003.09 02:47:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171626.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171627.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.71 3.19 13.47 4.06 4.09 0 16100.05 02:47:02 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171628.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : AshtechGps::processRecord() - $GPGGA,171629.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171630.00,3648.88531,N,12151.92689,W,1,04,2.9,-5.87,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171631.00,,,,,0,04,2.9,,M,,M,,*6A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171632.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171633.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 2.74 12.79 4.07 4.08 0 24873.82 02:47:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171634.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171635.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.10 12.30 3.98 4.09 0 10002.95 02:47:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171636.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171637.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.71 3.41 13.47 4.06 4.09 0 16099.70 02:47:12 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171638.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171639.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171640.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171641.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171642.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171643.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 4.64 12.89 4.07 4.08 0 24873.49 02:47:18 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171644.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171645.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.59 2.67 12.20 3.98 4.09 0 10002.71 02:47:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171646.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171647.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.71 3.52 13.47 4.06 4.09 0 16099.44 02:47:22 m : AshtechGps::processRecord() - $GPGGA,171648.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171649.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171650.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171651.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171652.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171653.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 3.22 12.89 4.07 4.08 0 24873.24 02:47:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171654.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171655.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.31 12.20 3.98 4.09 0 10002.55 02:47:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171656.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171657.00,,,,,0,04,5.8,,M,,M,,*6C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.71 3.59 13.47 4.06 4.09 0 16099.05 02:47:32 m : AshtechGps::processRecord() - $GPGGA,171658.00,3648.88902,N,12151.90836,W,1,08,1.1,17.42,M,-32.59,M,,*6A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : LayeredControl::execute() -- (t = 4763.793658) Behavior ascend:1049645 has changed to state Finished : LayeredControl - sending BehaviorFinished:1049645 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : AshtechGps::processRecord() - $GPGGA,171659.00,3648.89117,N,12151.90552,W,1,08,1.1,-2.22,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171700.00,3648.89081,N,12151.90395,W,1,08,1.1,-1.94,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion getgps after pos 2 : DynoLayeredControl::insert - stack now contains 18 behaviors : GetGPS::execute() -- Got a new GPS hit: 1 of 30 needed : LayeredControl::execute() -- (t = 4765.933511) Behavior getgps:1052982 has changed to state Active : LayeredControl - getgps BehaviorStarted:1052982 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,171701.00,3648.89123,N,12151.90258,W,1,08,1.1,-1.64,M,-32.59,M,,*71 : GetGPS::execute() -- Got a new GPS hit: 2 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171702.00,3648.89158,N,12151.90157,W,1,08,1.1,-3.28,M,-32.59,M,,*78 : GetGPS::execute() -- Got a new GPS hit: 3 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171703.00,3648.89113,N,12151.90052,W,1,08,1.1,-6.91,M,-32.59,M,,*75 : BluefinBatt Reply: $aaq0 d- 32.51 3.30 12.69 4.07 4.08 0 24872.88 02:47:38 m : GetGPS::execute() -- Got a new GPS hit: 4 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171704.00,3648.89173,N,12151.90013,W,1,08,1.1,-3.83,M,-32.59,M,,*77 : GetGPS::execute() -- Got a new GPS hit: 5 of 30 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171705.00,3648.89238,N,12151.90024,W,1,08,1.1,-3.15,M,-32.59,M,,*71 : GetGPS::execute() -- Got a new GPS hit: 6 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.66 0.86 12.20 3.98 4.10 0 10002.34 02:47:40 m : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171706.00,3648.89304,N,12151.89963,W,1,08,1.1,-3.24,M,-32.59,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 7 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171707.00,3648.89362,N,12151.89903,W,1,07,1.3,-3.51,M,-32.59,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 8 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 1.39 13.47 4.07 4.09 0 16098.83 02:47:42 m : AshtechGps::processRecord() - $GPGGA,171708.00,3648.89395,N,12151.89853,W,1,07,1.3,-3.21,M,-32.59,M,,*70 : GetGPS::execute() -- Got a new GPS hit: 9 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.040000 : AshtechGps::processRecord() - $GPGGA,171709.00,3648.89422,N,12151.89804,W,1,08,1.1,-3.31,M,-32.59,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 10 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171710.00,3648.89432,N,12151.89713,W,1,08,1.1,-2.67,M,-32.59,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 11 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171711.00,3648.89457,N,12151.89645,W,1,08,1.1,-2.94,M,-32.59,M,,*7A : GetGPS::execute() -- Got a new GPS hit: 12 of 30 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171712.00,3648.89481,N,12151.89599,W,1,08,1.1,-3.64,M,-32.59,M,,*7E : GetGPS::execute() -- Got a new GPS hit: 13 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171713.00,3648.89509,N,12151.89554,W,1,08,1.1,-3.67,M,-32.59,M,,*7C : BluefinBatt Reply: $aaq0 d- 32.59 1.14 12.79 4.08 4.09 0 24872.78 02:47:48 m : GetGPS::execute() -- Got a new GPS hit: 14 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171714.00,3648.89526,N,12151.89512,W,1,08,1.1,-3.79,M,-32.59,M,,*7B : GetGPS::execute() -- Got a new GPS hit: 15 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171715.00,3648.89537,N,12151.89452,W,1,08,1.1,-3.41,M,-32.59,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 16 of 30 needed : BluefinBatt Reply: $b6q0 d- 32.62 0.83 12.20 3.98 4.10 0 10002.25 02:47:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171716.00,3648.89565,N,12151.89402,W,1,09,1.0,-3.74,M,-32.59,M,,*73 : GetGPS::execute() -- Got a new GPS hit: 17 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171717.00,3648.89582,N,12151.89372,W,1,09,1.0,-3.94,M,-32.59,M,,*75 : GetGPS::execute() -- Got a new GPS hit: 18 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 1.29 13.47 4.07 4.09 0 16098.64 02:47:52 m : AshtechGps::processRecord() - $GPGGA,171718.00,3648.89606,N,12151.89352,W,1,09,1.0,-3.64,M,-32.59,M,,*78 : GetGPS::execute() -- Got a new GPS hit: 19 of 30 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.043333 : AshtechGps::processRecord() - $GPGGA,171719.00,3648.89618,N,12151.89324,W,1,09,1.0,-3.46,M,-32.59,M,,*77 : GetGPS::execute() -- Got a new GPS hit: 20 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171720.00,3648.89627,N,12151.89288,W,1,09,1.0,-3.14,M,-32.59,M,,*71 : GetGPS::execute() -- Got a new GPS hit: 21 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171721.00,3648.89642,N,12151.89238,W,1,09,1.0,-3.00,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 22 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171722.00,3648.89640,N,12151.89185,W,1,09,1.0,-3.04,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 23 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171723.00,3648.89660,N,12151.89128,W,1,09,1.0,-3.68,M,-32.59,M,,*73 : BluefinBatt Reply: $aaq0 d- 32.59 0.92 12.69 4.08 4.09 0 24872.64 02:47:58 m : GetGPS::execute() -- Got a new GPS hit: 24 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171724.00,3648.89663,N,12151.89130,W,1,09,1.0,-4.48,M,-32.59,M,,*7B : GetGPS::execute() -- Got a new GPS hit: 25 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171725.00,3648.89675,N,12151.89151,W,1,09,1.0,-3.95,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 26 of 30 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.66 0.72 12.20 3.99 4.10 0 10002.16 02:48:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171726.00,3648.89691,N,12151.89128,W,1,09,1.0,-3.06,M,-32.59,M,,*70 : GetGPS::execute() -- Got a new GPS hit: 27 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171727.00,3648.89692,N,12151.89079,W,1,09,1.0,-2.94,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 28 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 1.57 13.47 4.07 4.10 0 16098.53 02:48:02 m : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171728.00,3648.89702,N,12151.89034,W,1,09,1.0,-3.21,M,-32.59,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 29 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,171729.00,3648.89693,N,12151.89007,W,1,09,1.0,-3.07,M,-32.59,M,,*70 : GetGPS::execute() -- Got a new GPS hit: 30 of 30 needed : LayeredControl::execute() -- (t = 4794.001588) Behavior getgps:1052982 has changed to state Finished : LayeredControl - sending BehaviorFinished:1052982 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171730.00,3648.89691,N,12151.88977,W,1,09,1.0,-3.35,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : DynoLayeredControlServer insertBehaves : AshtechGps::processRecord() - $GPGGA,171731.00,3648.89681,N,12151.88954,W,1,09,1.0,-3.74,M,-32.59,M,,*70 : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion setpoint after pos 2 : DynoLayeredControl::insert - stack now contains 19 behaviors : LayeredControl::execute() -- (t = 4796.141442) Behavior setpoint:1054187 has changed to state Active : LayeredControl - setpoint BehaviorStarted:1054187 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171732.00,3648.89695,N,12151.88936,W,1,09,1.0,-3.99,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171733.00,3648.89701,N,12151.88936,W,1,09,1.0,-3.99,M,-32.59,M,,*7C : BluefinBatt Reply: $aaq0 d- 32.63 1.37 12.69 4.08 4.10 0 24872.55 02:48:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171734.00,3648.89713,N,12151.88923,W,1,09,1.0,-4.03,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171735.00,3648.89714,N,12151.88926,W,1,09,1.0,-3.78,M,-32.59,M,,*70 : BluefinBatt Reply: $b6q0 d- 32.66 0.65 12.20 3.99 4.10 0 10002.10 02:48:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171736.00,3648.89721,N,12151.88917,W,1,09,1.0,-3.48,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171737.00,3648.89714,N,12151.88900,W,1,09,1.0,-3.50,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 2.08 13.47 4.07 4.10 0 16098.35 02:48:12 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171738.00,3648.89719,N,12151.88872,W,1,09,1.0,-3.37,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,171739.00,3648.89709,N,12151.88865,W,1,09,1.0,-3.54,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171740.00,3648.89710,N,12151.88851,W,1,09,1.0,-3.46,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171741.00,3648.89707,N,12151.88839,W,1,09,1.0,-3.22,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171742.00,3648.89717,N,12151.88813,W,1,09,1.0,-3.42,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171743.00,3648.89717,N,12151.88809,W,1,09,1.0,-3.61,M,-32.59,M,,*76 : BluefinBatt Reply: $aaq0 d- 32.59 1.00 12.69 4.08 4.10 0 24872.40 02:48:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171744.00,3648.89723,N,12151.88796,W,1,09,1.0,-3.78,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171745.00,3648.89726,N,12151.88799,W,1,09,1.0,-3.94,M,-32.59,M,,*7E : BluefinBatt Reply: $b6q0 d- 32.66 0.61 12.20 3.99 4.10 0 10001.97 02:48:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171746.00,3648.89731,N,12151.88809,W,1,09,1.0,-3.96,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171747.00,3648.89730,N,12151.88811,W,1,09,1.0,-3.89,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 1.47 13.37 4.07 4.10 0 16098.21 02:48:22 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171748.00,3648.89716,N,12151.88822,W,1,09,1.0,-3.53,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171749.00,3648.89722,N,12151.88786,W,1,09,1.0,-3.29,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171750.00,3648.89712,N,12151.88782,W,1,09,1.0,-3.46,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171751.00,3648.89729,N,12151.88755,W,1,09,1.0,-3.66,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171752.00,3648.89718,N,12151.88779,W,1,09,1.0,-4.06,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171753.00,3648.89725,N,12151.88777,W,1,09,1.0,-3.80,M,-32.59,M,,*7F : BluefinBatt Reply: $aaq0 d- 32.51 2.26 12.79 4.08 4.10 0 24872.28 02:48:28 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171754.00,3648.89720,N,12151.88781,W,1,09,1.0,-3.55,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171755.00,3648.89730,N,12151.88762,W,1,09,1.0,-3.36,M,-32.59,M,,*74 : BluefinBatt Reply: $b6q0 d- 32.66 0.72 12.10 3.99 4.10 0 10001.88 02:48:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171756.00,3648.89744,N,12151.88750,W,1,09,1.0,-3.43,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171757.00,3648.89745,N,12151.88742,W,1,09,1.0,-3.64,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.79 1.36 13.47 4.07 4.10 0 16098.03 02:48:32 m : AshtechGps::processRecord() - $GPGGA,171758.00,3648.89747,N,12151.88737,W,1,09,1.0,-4.08,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171759.00,3648.89735,N,12151.88770,W,1,09,1.0,-3.91,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171800.00,3648.89731,N,12151.88758,W,1,09,1.0,-3.69,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171801.00,3648.89714,N,12151.88766,W,1,09,1.0,-3.42,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171802.00,3648.89732,N,12151.88747,W,1,09,1.0,-3.51,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171803.00,3648.89737,N,12151.88754,W,1,09,1.0,-3.45,M,-32.59,M,,*7E : BluefinBatt Reply: $aaq0 d- 32.59 1.41 12.79 4.08 4.10 0 24872.15 02:48:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171804.00,3648.89750,N,12151.88731,W,1,09,1.0,-3.29,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171805.00,3648.89750,N,12151.88716,W,1,09,1.0,-3.33,M,-32.59,M,,*7E : BluefinBatt Reply: $b6q0 d- 32.66 1.84 12.10 3.99 4.10 0 10001.79 02:48:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171806.00,3648.89749,N,12151.88705,W,1,09,1.0,-3.80,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,171807.00,3648.89747,N,12151.88728,W,1,09,1.0,-4.56,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 1.68 13.37 4.07 4.10 0 16097.91 02:48:42 m : AshtechGps::processRecord() - $GPGGA,171808.00,3648.89747,N,12151.88773,W,1,09,1.0,-4.23,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171809.00,3648.89750,N,12151.88775,W,1,09,1.0,-3.72,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171810.00,3648.89746,N,12151.88773,W,1,09,1.0,-3.12,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171811.00,3648.89762,N,12151.88731,W,1,09,1.0,-3.16,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171812.00,3648.89749,N,12151.88731,W,1,09,1.0,-3.25,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171813.00,3648.89751,N,12151.88709,W,1,09,1.0,-3.58,M,-32.59,M,,*7B : BluefinBatt Reply: $aaq0 d- 32.63 1.22 12.69 4.08 4.09 0 24872.06 02:48:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171814.00,3648.89753,N,12151.88713,W,1,09,1.0,-3.71,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171815.00,3648.89765,N,12151.88723,W,1,09,1.0,-4.04,M,-32.59,M,,*7C : BluefinBatt Reply: $b6q0 d- 32.62 0.83 12.10 3.99 4.10 0 10001.75 02:48:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171816.00,3648.89775,N,12151.88748,W,1,09,1.0,-3.91,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171817.00,3648.89776,N,12151.88752,W,1,09,1.0,-3.78,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 1.32 13.37 4.07 4.10 0 16097.69 02:48:52 m : AshtechGps::processRecord() - $GPGGA,171818.00,3648.89771,N,12151.88743,W,1,09,1.0,-3.84,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,171819.00,3648.89779,N,12151.88746,W,1,09,1.0,-3.80,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171820.00,3648.89779,N,12151.88772,W,1,09,1.0,-3.98,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171821.00,3648.89788,N,12151.88772,W,1,09,1.0,-3.54,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171822.00,3648.89795,N,12151.88754,W,1,09,1.0,-3.18,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171823.00,3648.89799,N,12151.88728,W,1,09,1.0,-3.48,M,-32.59,M,,*7E : BluefinBatt Reply: $aaq0 d- 32.63 1.00 12.79 4.08 4.09 0 24871.92 02:48:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171824.00,3648.89789,N,12151.88734,W,1,09,1.0,-3.52,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171825.00,3648.89793,N,12151.88727,W,1,09,1.0,-3.30,M,-32.59,M,,*72 : BluefinBatt Reply: $b6q0 d- 32.66 0.83 12.10 3.99 4.10 0 10001.68 02:49:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171826.00,3648.89801,N,12151.88709,W,1,09,1.0,-3.64,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171827.00,3648.89797,N,12151.88729,W,1,09,1.0,-4.42,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 1.54 13.37 4.07 4.10 0 16097.56 02:49:02 m : AshtechGps::processRecord() - $GPGGA,171828.00,3648.89808,N,12151.88760,W,1,09,1.0,-3.97,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,171829.00,3648.89821,N,12151.88752,W,1,09,1.0,-3.68,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171830.00,3648.89826,N,12151.88736,W,1,09,1.0,-3.61,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171831.00,3648.89835,N,12151.88737,W,1,09,1.0,-3.88,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171832.00,3648.89830,N,12151.88764,W,1,09,1.0,-3.66,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171833.00,3648.89842,N,12151.88739,W,1,09,1.0,-3.18,M,-32.59,M,,*73 : BluefinBatt Reply: $aaq0 d- 32.55 1.66 12.69 4.08 4.10 0 24871.80 02:49:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171834.00,3648.89829,N,12151.88719,W,1,09,1.0,-3.47,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171835.00,3648.89841,N,12151.88705,W,1,10,1.0,-3.40,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.66 0.75 12.10 3.99 4.10 0 10001.61 02:49:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171836.00,3648.89839,N,12151.88731,W,1,10,1.0,-3.51,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171837.00,3648.89846,N,12151.88734,W,1,10,1.0,-3.40,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 1.65 13.37 4.07 4.10 0 16097.38 02:49:12 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171838.00,3648.89845,N,12151.88734,W,1,10,1.0,-3.21,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,171839.00,3648.89847,N,12151.88736,W,1,10,1.0,-3.04,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171840.00,3648.89862,N,12151.88721,W,1,10,1.0,-3.22,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171841.00,3648.89850,N,12151.88725,W,1,10,1.0,-3.61,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171842.00,3648.89878,N,12151.88727,W,1,10,1.0,-3.54,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171843.00,3648.89877,N,12151.88752,W,1,10,1.0,-3.40,M,-32.59,M,,*7A : BluefinBatt Reply: $aaq0 d- 32.63 0.92 12.79 4.08 4.10 0 24871.66 02:49:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171844.00,3648.89893,N,12151.88767,W,1,10,1.0,-3.29,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171845.00,3648.89900,N,12151.88751,W,1,10,1.0,-2.81,M,-32.59,M,,*72 : BluefinBatt Reply: $b6q0 d- 32.66 0.90 12.10 3.99 4.10 0 10001.53 02:49:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171846.00,3648.89892,N,12151.88726,W,1,10,1.0,-3.04,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171847.00,3648.89903,N,12151.88707,W,1,10,1.0,-3.15,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.79 1.50 13.28 4.07 4.10 0 16097.21 02:49:22 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171848.00,3648.89878,N,12151.88725,W,1,10,1.0,-3.72,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,171849.00,3648.89899,N,12151.88747,W,1,10,1.0,-3.55,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171850.00,3648.89907,N,12151.88752,W,1,10,1.0,-3.16,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171851.00,3648.89932,N,12151.88733,W,1,10,1.0,-3.38,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171852.00,3648.89932,N,12151.88727,W,1,10,1.0,-3.31,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171853.00,3648.89948,N,12151.88730,W,1,10,1.0,-3.61,M,-32.59,M,,*71 : BluefinBatt Reply: $aaq0 d- 32.59 1.22 12.79 4.08 4.09 0 24871.57 02:49:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171854.00,3648.89934,N,12151.88749,W,1,10,1.0,-3.37,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171855.00,3648.89945,N,12151.88723,W,1,10,1.0,-2.92,M,-32.59,M,,*75 : BluefinBatt Reply: $b6q0 d- 32.66 0.86 12.20 3.99 4.10 0 10001.47 02:49:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171856.00,3648.89927,N,12151.88691,W,1,10,1.0,-3.53,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171857.00,3648.89944,N,12151.88708,W,1,10,1.0,-3.98,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.83 1.57 13.37 4.07 4.10 0 16097.02 02:49:32 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171858.00,3648.89956,N,12151.88741,W,1,10,1.0,-3.39,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171859.00,3648.89985,N,12151.88749,W,1,10,1.0,-3.34,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171900.00,3648.89985,N,12151.88737,W,1,10,1.0,-2.98,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171901.00,3648.89974,N,12151.88707,W,1,10,1.0,-2.71,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl::execute() -- (t = 4886.195273) Behavior setpoint:1054187 has changed to state Finished : LayeredControl - sending BehaviorFinished:1054187 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171902.00,3648.89977,N,12151.88682,W,1,10,1.0,-3.22,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171903.00,3648.89978,N,12151.88687,W,1,10,1.0,-3.63,M,-32.59,M,,*79 : BluefinBatt Reply: $aaq0 d- 32.63 1.11 12.79 4.08 4.09 0 24871.42 02:49:38 m : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171904.00,3648.90011,N,12151.88699,W,1,10,1.0,-3.58,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion setpoint after pos 2 : DynoLayeredControl::insert - stack now contains 20 behaviors : LayeredControl::execute() -- (t = 4889.535044) Behavior setpoint:1057661 has changed to state Active : LayeredControl - setpoint BehaviorStarted:1057661 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.69 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171905.00,3648.90000,N,12151.88701,W,1,10,1.0,-3.67,M,-32.59,M,,*7A : BluefinBatt Reply: $b6q0 d- 32.66 0.61 12.10 4.00 4.10 0 10001.39 02:49:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.69 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171906.00,3648.90031,N,12151.88717,W,1,10,1.0,-3.68,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171907.00,3648.90022,N,12151.88720,W,1,10,1.0,-3.16,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.69 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.79 1.65 13.28 4.07 4.10 0 16096.92 02:49:42 m : AshtechGps::processRecord() - $GPGGA,171908.00,3648.90036,N,12151.88701,W,1,10,1.0,-3.18,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.050000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.69 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171909.00,3648.90024,N,12151.88693,W,1,10,1.0,-3.74,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl::execute() -- (t = 4894.594697) Behavior setpoint:1057661 has changed to state Finished : LayeredControl - sending BehaviorFinished:1057661 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : AshtechGps::processRecord() - $GPGGA,171910.00,3648.90040,N,12151.88710,W,1,10,1.0,-3.64,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion descend after pos 2 : DynoLayeredControl::insert - stack now contains 21 behaviors : LayeredControl::execute() -- (t = 4895.534633) Behavior descend:1057620 has changed to state Active : LayeredControl - descend BehaviorStarted:1057620 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,171911.00,3648.90050,N,12151.88709,W,1,10,1.0,-3.21,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.69 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171912.00,3648.90079,N,12151.88693,W,1,10,1.0,-2.89,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.69 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171913.00,3648.90084,N,12151.88643,W,1,10,1.0,-2.67,M,-32.59,M,,*77 : BluefinBatt Reply: $aaq0 d- 32.55 2.55 12.69 4.08 4.10 0 24871.32 02:49:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171914.00,3648.90085,N,12151.88579,W,1,10,1.0,-3.15,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.69 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171915.00,3648.90089,N,12151.88547,W,1,10,1.0,-3.50,M,-32.59,M,,*7E : BluefinBatt Reply: $b6q0 d- 32.59 2.13 12.10 4.00 4.10 0 10001.29 02:49:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.69 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171916.00,3648.90092,N,12151.88522,W,1,10,1.0,-3.66,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171917.00,3648.90112,N,12151.88508,W,1,10,1.0,-4.13,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.69 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.71 3.16 13.37 4.07 4.10 0 16096.56 02:49:52 m : AshtechGps::processRecord() - $GPGGA,171918.00,3648.90140,N,12151.88498,W,1,10,1.0,-3.82,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.050000 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.69 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171919.00,3648.90149,N,12151.88451,W,1,10,1.0,-3.45,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.69 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171920.00,3648.90172,N,12151.88413,W,1,10,1.0,-3.45,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171921.00,3648.90198,N,12151.88373,W,1,10,1.0,-3.33,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.69 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171922.00,3648.90219,N,12151.88322,W,1,10,1.0,-3.18,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.69 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171923.00,3648.90238,N,12151.88291,W,1,10,1.0,-3.44,M,-32.59,M,,*7A : BluefinBatt Reply: $aaq0 d- 32.59 2.00 12.79 4.08 4.10 0 24871.04 02:49:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171924.00,3648.90265,N,12151.88263,W,1,10,1.0,-3.27,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.69 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171925.00,3648.90312,N,12151.88228,W,1,10,1.0,-2.70,M,-32.59,M,,*71 : BluefinBatt Reply: $b6q0 d- 32.59 1.95 12.10 3.98 4.10 0 10001.04 02:50:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.69 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171926.00,3648.90360,N,12151.88162,W,1,10,1.0,-2.55,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.69 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171927.00,3648.90402,N,12151.88111,W,1,10,1.0,-2.98,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.75 3.23 13.37 4.07 4.09 0 16096.37 02:50:02 m : AshtechGps::processRecord() - $GPGGA,171928.00,3648.90458,N,12151.88137,W,1,09,1.0,-3.19,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.69 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.043333 : AshtechGps::processRecord() - $GPGGA,171929.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.69 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171930.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171931.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.69 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171932.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.69 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171933.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 3.22 12.69 4.07 4.08 0 24870.81 02:50:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.69 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171934.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171935.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 3.69 12.20 3.98 4.10 0 10000.89 02:50:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Descend::execute() - Descend terminating on depth 2.109117 > 2.000000 at time 4920.192944 : LayeredControl::execute() -- (t = 4920.192944) Behavior descend:1057620 has changed to state Finished : LayeredControl - sending BehaviorFinished:1057620 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171936.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171937.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.68 3.88 13.47 4.07 4.09 0 16095.97 02:50:12 m : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion waypoint_yoyo after pos 2 : DynoLayeredControl::insert - stack now contains 22 behaviors : Waypoint Initialization: Begin waypoint control at t= 4922.73 (wplog) The current location (N,E) = 4074967.8 , 601261.5 (wplog) The next waypoint = 4074908.9 , 599537.8 (wplog) The bearing to the next w.p. is 268.0 Degrees. : LayeredControl::execute() -- (t = 4922.732770) Behavior waypoint_yoyo:1059224 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:1059224 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,171938.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.040000 : AshtechGps::processRecord() - $GPGGA,171939.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171940.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171941.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171942.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171943.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 3.33 12.79 4.07 4.08 0 24870.45 02:50:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171944.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171945.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.55 2.46 12.20 3.98 4.09 0 10000.58 02:50:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171946.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171947.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.71 3.66 13.47 4.06 4.09 0 16095.69 02:50:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171948.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : AshtechGps::processRecord() - $GPGGA,171949.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171950.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171951.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171952.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171953.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 3.89 12.79 4.07 4.08 0 24870.19 02:50:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171954.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171955.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.51 2.86 12.20 3.98 4.09 0 10000.41 02:50:30 m : AshtechGps::processRecord() - $GPGGA,171956.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171957.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.68 3.70 13.47 4.06 4.09 0 16095.27 02:50:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171958.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : AshtechGps::processRecord() - $GPGGA,171959.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172000.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172001.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172002.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172003.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 3.59 12.79 4.07 4.08 0 24869.75 02:50:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172004.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172005.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.55 2.31 12.20 3.97 4.09 0 10000.15 02:50:40 m : AshtechGps::processRecord() - $GPGGA,172006.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172007.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.68 3.80 13.47 4.06 4.08 0 16095.00 02:50:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172008.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.033333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172009.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172010.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172011.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172012.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172013.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 3.71 12.89 4.07 4.08 0 24869.50 02:50:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172014.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172015.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.24 12.20 3.97 4.09 0 9999.94 02:50:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172016.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172017.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.68 3.44 13.47 4.06 4.08 0 16094.57 02:50:52 m : AshtechGps::processRecord() - $GPGGA,172018.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.033333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172019.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172020.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172021.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172022.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172023.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.63 12.79 4.07 4.08 0 24869.12 02:50:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172024.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172025.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.46 12.20 3.98 4.09 0 9999.68 02:51:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172026.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172027.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.68 3.88 13.47 4.06 4.08 0 16094.30 02:51:02 m : AshtechGps::processRecord() - $GPGGA,172028.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172029.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172030.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172031.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172032.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172033.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.37 12.89 4.07 4.08 0 24868.87 02:51:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172034.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172035.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.28 12.20 3.98 4.09 0 9999.50 02:51:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172036.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172037.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.71 3.37 13.47 4.06 4.08 0 16093.90 02:51:12 m : AshtechGps::processRecord() - $GPGGA,172038.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : AshtechGps::processRecord() - $GPGGA,172039.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172040.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172041.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172042.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172043.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 3.78 12.89 4.07 4.08 0 24868.46 02:51:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172044.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172045.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.24 12.30 3.98 4.09 0 9999.24 02:51:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172046.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172047.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.68 4.52 13.47 4.06 4.08 0 16093.63 02:51:22 m : AshtechGps::processRecord() - $GPGGA,172048.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : AshtechGps::processRecord() - $GPGGA,172049.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172050.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172051.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172052.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172053.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 3.22 12.98 4.07 4.08 0 24868.21 02:51:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172054.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172055.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.55 2.24 12.20 3.98 4.09 0 9999.07 02:51:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172056.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172057.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.68 3.30 13.57 4.06 4.08 0 16093.18 02:51:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172058.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : AshtechGps::processRecord() - $GPGGA,172059.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172100.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172101.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172102.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172103.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 3.22 12.98 4.07 4.08 0 24867.86 02:51:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172104.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172105.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.42 12.20 3.98 4.09 0 9998.82 02:51:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172106.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172107.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.68 3.80 13.57 4.06 4.08 0 16092.91 02:51:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172108.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : AshtechGps::processRecord() - $GPGGA,172109.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172110.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172111.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172112.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172113.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 3.71 12.98 4.07 4.08 0 24867.60 02:51:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172114.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172115.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.31 12.20 3.98 4.09 0 9998.65 02:51:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172116.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172117.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.71 3.59 13.57 4.06 4.08 0 16092.51 02:51:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172118.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172119.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172120.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172121.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172122.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172123.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.71 12.98 4.07 4.08 0 24867.23 02:51:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172124.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172125.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.17 12.30 3.98 4.09 0 9998.37 02:52:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172126.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172127.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.68 4.09 13.57 4.06 4.08 0 16092.24 02:52:02 m : AshtechGps::processRecord() - $GPGGA,172128.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172129.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172130.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172131.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172132.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172133.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.44 12.89 4.07 4.08 0 24867.00 02:52:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172134.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172135.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.39 12.30 3.98 4.09 0 9998.20 02:52:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172136.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172137.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.68 3.84 13.57 4.06 4.08 0 16091.82 02:52:12 m : AshtechGps::processRecord() - $GPGGA,172138.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172139.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172140.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172141.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172142.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172143.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.37 12.98 4.07 4.08 0 24866.64 02:52:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172144.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172145.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.31 12.30 3.98 4.09 0 9997.96 02:52:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172146.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172147.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.71 3.37 13.57 4.06 4.08 0 16091.56 02:52:22 m : AshtechGps::processRecord() - $GPGGA,172148.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : AshtechGps::processRecord() - $GPGGA,172149.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172150.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172151.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172152.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : DepthEnvelope -- Measured altitude 9.696586 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172153.00,,,,,0,00,,,M,,M,,*4B : resetting depth trajectory : BluefinBatt Reply: $aaq0 d- 32.44 3.22 12.98 4.07 4.08 0 24866.38 02:52:28 m : DepthEnvelope -- Measured altitude 9.696586 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.696586 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.696586 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.696586 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.696586 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172154.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.696586 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.217339 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.217339 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.217339 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.217339 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172155.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.217339 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.217339 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.55 2.28 12.30 3.98 4.09 0 9997.78 02:52:30 m : DepthEnvelope -- Measured altitude 9.217339 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.217339 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.748775 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172156.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.748775 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.748775 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.748775 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.748775 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.748775 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172157.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.748775 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.141056 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.79 1.68 13.67 4.06 4.08 0 16091.23 02:52:32 m : DepthEnvelope -- Measured altitude 8.141056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.141056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.141056 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172158.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.141056 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.141056 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : DepthEnvelope -- Measured altitude 8.141056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.521910 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.521910 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172159.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.521910 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.521910 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.521910 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.521910 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.521910 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172200.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.521910 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.733129 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.733129 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.733129 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.733129 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172201.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.733129 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.733129 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.733129 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.997693 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.997693 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172202.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.997693 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.997693 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.997693 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.997693 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.997693 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172203.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 1.26 12.98 4.07 4.08 0 24866.21 02:52:38 m : DepthEnvelope -- Measured altitude 5.716255 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.716255 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.716255 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.716255 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.716255 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172204.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.716255 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.716255 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.716255 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.664388 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.664388 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172205.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.664388 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.66 0.61 12.30 3.99 4.10 0 9997.68 02:52:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.664388 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.664388 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.664388 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.664388 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172206.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.626002 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.626002 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.626002 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.626002 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.626002 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172207.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.626002 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.626002 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.79 1.50 13.57 4.07 4.10 0 16091.09 02:52:42 m : DepthEnvelope -- Measured altitude 5.803953 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.803953 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.803953 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172208.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.803953 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.803953 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.043334 : DepthEnvelope -- Measured altitude 5.803953 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.803953 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.803953 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172209.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.130934 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.130934 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.130934 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.130934 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.130934 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172210.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.130934 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.130934 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.406373 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.406373 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.406373 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172211.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.406373 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.406373 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.406373 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.406373 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.406373 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172212.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.608113 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.608113 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.608113 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.608113 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.608113 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172213.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 0.92 12.98 4.08 4.09 0 24866.14 02:52:48 m : DepthEnvelope -- Measured altitude 6.608113 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.608113 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.790857 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.790857 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.790857 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172214.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.790857 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.790857 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.790857 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.790857 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.923673 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172215.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.923673 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.66 0.90 12.30 3.99 4.10 0 9997.62 02:52:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.923673 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.923673 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.923673 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.923673 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172216.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.923673 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.923673 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.130016 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.130016 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.130016 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172217.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.130016 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.130016 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.79 1.29 13.67 4.07 4.10 0 16090.92 02:52:52 m : DepthEnvelope -- Measured altitude 7.130016 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.130016 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.254050 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172218.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.254050 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.254050 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : DepthEnvelope -- Measured altitude 7.254050 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.254050 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.254050 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172219.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.254050 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.548848 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.548848 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.548848 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.548848 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172220.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.548848 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.548848 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.548848 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.548848 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.672130 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172221.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.672130 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.672130 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.672130 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.672130 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.672130 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172222.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.672130 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.765715 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.765715 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.765715 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.765715 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172223.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 0.92 12.98 4.08 4.09 0 24866.05 02:52:58 m : DepthEnvelope -- Measured altitude 7.765715 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.765715 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.765715 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.902735 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.902735 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172224.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.902735 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.902735 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.902735 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.902735 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.902735 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172225.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.902735 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.66 0.68 12.30 3.99 4.10 0 9997.53 02:53:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.919462 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.919462 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.919462 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.919462 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172226.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.919462 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.919462 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.919462 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.124808 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.124808 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172227.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.124808 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.124808 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.75 1.76 13.57 4.07 4.10 0 16090.80 02:53:02 m : DepthEnvelope -- Measured altitude 8.124808 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.124808 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.124808 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172228.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.004312 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.004312 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : DepthEnvelope -- Measured altitude 8.004312 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.004312 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.004312 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172229.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.004312 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.004312 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.004312 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.997996 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.997996 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172230.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.997996 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.997996 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.997996 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.997996 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.997996 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172231.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.134718 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.134718 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.134718 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.134718 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.134718 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172232.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.134718 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.134718 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.271622 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.271622 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.271622 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172233.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 0.89 12.98 4.08 4.09 0 24865.98 02:53:08 m : DepthEnvelope -- Measured altitude 8.271622 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.271622 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.271622 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.271622 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.271622 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172234.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.435373 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.435373 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.435373 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.435373 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.435373 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172235.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.435373 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.62 0.79 12.30 3.99 4.10 0 9997.47 02:53:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.435373 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.564978 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.564978 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.564978 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172236.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.564978 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.564978 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.564978 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.564978 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.564978 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172237.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.884964 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.884964 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.79 1.29 13.57 4.07 4.10 0 16090.61 02:53:12 m : DepthEnvelope -- Measured altitude 8.884964 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.884964 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.884964 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172238.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.884964 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.884964 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : DepthEnvelope -- Measured altitude 9.141637 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.141637 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.141637 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172239.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.141637 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.141637 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.141637 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.141637 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.359900 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172240.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.359900 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.359900 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.359900 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.359900 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.359900 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172241.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.359900 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.359900 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.493950 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.493950 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.493950 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172242.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.493950 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.493950 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.493950 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.493950 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.699216 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172243.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.63 1.00 12.98 4.08 4.09 0 24865.88 02:53:18 m : DepthEnvelope -- Measured altitude 9.699216 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.699216 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.699216 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.699216 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.699216 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172244.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.699216 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.850099 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.850099 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.850099 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.850099 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172245.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.850099 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.62 0.68 12.30 3.99 4.10 0 9997.38 02:53:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.850099 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.850099 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.850099 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.951786 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172246.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.951786 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.951786 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.951786 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.951786 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.951786 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172247.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.951786 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- altitude 10.443892 over abort altitude 10.000000, starting prop! : BluefinBatt Reply: $c0q0 d- 32.79 1.39 13.57 4.07 4.10 0 16090.49 02:53:22 m : AshtechGps::processRecord() - $GPGGA,172248.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172249.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172250.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172251.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172252.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172253.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 2.63 12.89 4.08 4.09 0 24865.80 02:53:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172254.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172255.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.31 12.30 3.99 4.10 0 9997.28 02:53:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172256.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172257.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.68 4.70 13.57 4.07 4.10 0 16090.17 02:53:32 m : AshtechGps::processRecord() - $GPGGA,172258.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,172259.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172300.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172301.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172302.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172303.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.85 12.98 4.08 4.09 0 24865.46 02:53:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172304.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172305.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.51 2.67 12.30 3.97 4.08 0 9996.98 02:53:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172306.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172307.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.68 3.73 13.57 4.05 4.08 0 16089.86 02:53:42 m : AshtechGps::processRecord() - $GPGGA,172308.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.033333 : AshtechGps::processRecord() - $GPGGA,172309.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172310.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172311.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172312.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172313.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.44 12.98 4.07 4.08 0 24865.21 02:53:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172314.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172315.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.55 2.17 12.40 3.97 4.08 0 9996.81 02:53:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172316.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172317.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.71 3.30 13.67 4.05 4.08 0 16089.46 02:53:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172318.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.030000 : AshtechGps::processRecord() - $GPGGA,172319.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172320.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172321.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172322.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172323.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 3.00 12.98 4.07 4.08 0 24864.86 02:53:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172324.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172325.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.21 12.30 3.98 4.09 0 9996.58 02:54:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172326.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172327.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.71 3.19 13.57 4.06 4.08 0 16089.21 02:54:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172328.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : AshtechGps::processRecord() - $GPGGA,172329.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172330.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172331.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172332.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172333.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 3.37 12.98 4.07 4.08 0 24864.62 02:54:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172334.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172335.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.06 12.40 3.98 4.09 0 9996.42 02:54:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172336.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172337.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.68 3.12 13.57 4.06 4.08 0 16088.83 02:54:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172338.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172339.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172340.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172341.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172342.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172343.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 3.26 12.98 4.07 4.08 0 24864.28 02:54:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172344.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172345.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 3.18 12.40 3.98 4.09 0 9996.19 02:54:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172346.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172347.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.71 3.12 13.57 4.06 4.08 0 16088.57 02:54:22 m : AshtechGps::processRecord() - $GPGGA,172348.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172349.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172350.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172351.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172352.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172353.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 3.22 12.98 4.07 4.08 0 24864.04 02:54:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172354.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172355.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.51 2.31 12.40 3.98 4.09 0 9996.03 02:54:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172356.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172357.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.71 3.08 13.57 4.06 4.08 0 16088.18 02:54:32 m : AshtechGps::processRecord() - $GPGGA,172358.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172359.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172400.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172401.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172402.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172403.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.37 12.98 4.07 4.08 0 24863.70 02:54:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172404.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172405.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.28 12.40 3.98 4.09 0 9995.79 02:54:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172406.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172407.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.91 13.57 4.06 4.08 0 16087.93 02:54:42 m : AshtechGps::processRecord() - $GPGGA,172408.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : AshtechGps::processRecord() - $GPGGA,172409.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172410.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172411.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172412.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172413.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 3.11 12.98 4.07 4.08 0 24863.48 02:54:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172414.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172415.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.13 12.40 3.98 4.09 0 9995.62 02:54:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172416.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172417.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.68 3.37 13.47 4.06 4.08 0 16087.55 02:54:52 m : AshtechGps::processRecord() - $GPGGA,172418.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : AshtechGps::processRecord() - $GPGGA,172419.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172420.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172421.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172422.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172423.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.04 12.79 4.07 4.08 0 24863.09 02:54:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172424.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172425.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.55 2.06 12.40 3.97 4.08 0 9995.38 02:55:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172426.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172427.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.68 3.26 13.47 4.05 4.08 0 16087.29 02:55:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172428.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.030000 : AshtechGps::processRecord() - $GPGGA,172429.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172430.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172431.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172432.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172433.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.22 12.98 4.07 4.08 0 24862.88 02:55:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172434.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172435.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.21 12.40 3.97 4.08 0 9995.22 02:55:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172436.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172437.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.55 13.57 4.05 4.08 0 16086.89 02:55:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172438.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.030000 : AshtechGps::processRecord() - $GPGGA,172439.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172440.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172441.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172442.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172443.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 3.26 12.89 4.07 4.08 0 24862.54 02:55:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172444.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172445.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.51 2.13 12.40 3.97 4.09 0 9994.96 02:55:20 m : AshtechGps::processRecord() - $GPGGA,172446.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172447.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.62 13.57 4.05 4.08 0 16086.63 02:55:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172448.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.030000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172449.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172450.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172451.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172452.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172453.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 3.44 12.98 4.07 4.08 0 24862.31 02:55:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172454.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172455.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.51 2.86 12.40 3.97 4.09 0 9994.75 02:55:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172456.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172457.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.64 3.77 13.47 4.05 4.08 0 16086.22 02:55:32 m : AshtechGps::processRecord() - $GPGGA,172458.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.030000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172459.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172500.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172501.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172502.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172503.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.89 12.79 4.07 4.08 0 24861.96 02:55:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172504.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172505.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.51 2.35 12.40 3.97 4.08 0 9994.50 02:55:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172506.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172507.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.68 3.34 13.57 4.05 4.08 0 16085.89 02:55:42 m : AshtechGps::processRecord() - $GPGGA,172508.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.030000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172509.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172510.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172511.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172512.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172513.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 3.37 12.79 4.07 4.08 0 24861.71 02:55:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172514.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172515.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.51 2.24 12.40 3.97 4.08 0 9994.33 02:55:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172516.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172517.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 4.99 13.57 4.05 4.08 0 16085.49 02:55:52 m : AshtechGps::processRecord() - $GPGGA,172518.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.030000 : AshtechGps::processRecord() - $GPGGA,172519.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172520.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172521.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172522.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172523.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.22 12.98 4.07 4.08 0 24861.36 02:55:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172524.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172525.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.51 2.21 12.40 3.97 4.08 0 9994.04 02:56:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172526.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172527.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.73 13.67 4.05 4.08 0 16085.22 02:56:02 m : AshtechGps::processRecord() - $GPGGA,172528.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.030000 : AshtechGps::processRecord() - $GPGGA,172529.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172530.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172531.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172532.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172533.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.41 12.89 4.07 4.08 0 24861.11 02:56:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172534.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172535.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.51 2.28 12.40 3.97 4.08 0 9993.87 02:56:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172536.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172537.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.77 13.67 4.05 4.08 0 16084.82 02:56:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172538.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.030000 : AshtechGps::processRecord() - $GPGGA,172539.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172540.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172541.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172542.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172543.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 3.78 12.98 4.07 4.08 0 24860.74 02:56:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172544.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172545.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.51 2.39 12.40 3.97 4.08 0 9993.61 02:56:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172546.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172547.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.52 13.67 4.05 4.08 0 16084.55 02:56:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172548.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.030000 : AshtechGps::processRecord() - $GPGGA,172549.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172550.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172551.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172552.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172553.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.56 12.98 4.06 4.08 0 24860.50 02:56:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172554.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172555.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.51 2.42 12.40 3.97 4.08 0 9993.44 02:56:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172556.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172557.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.48 13.67 4.05 4.08 0 16084.15 02:56:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172558.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172559.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172600.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172601.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172602.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172603.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.93 12.89 4.06 4.08 0 24860.11 02:56:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172604.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172605.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.51 2.28 12.40 3.97 4.08 0 9993.19 02:56:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172606.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172607.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.64 4.67 13.67 4.05 4.08 0 16083.90 02:56:42 m : AshtechGps::processRecord() - $GPGGA,172608.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172609.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172610.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172611.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172612.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172613.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.30 12.98 4.07 4.08 0 24859.86 02:56:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172614.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172615.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.17 12.40 3.97 4.08 0 9993.02 02:56:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172616.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172617.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.80 13.67 4.05 4.08 0 16083.44 02:56:52 m : AshtechGps::processRecord() - $GPGGA,172618.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.030000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172619.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172620.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172621.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172622.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172623.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.26 12.98 4.07 4.08 0 24859.51 02:56:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172624.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172625.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.51 2.28 12.40 3.97 4.08 0 9992.76 02:57:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172626.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172627.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.77 13.67 4.05 4.08 0 16083.17 02:57:02 m : AshtechGps::processRecord() - $GPGGA,172628.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.030000 : AshtechGps::processRecord() - $GPGGA,172629.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172630.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172631.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172632.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172633.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 3.48 12.98 4.07 4.08 0 24859.27 02:57:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172634.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172635.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.51 2.24 12.40 3.97 4.08 0 9992.59 02:57:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172636.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172637.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.44 13.67 4.05 4.08 0 16082.77 02:57:12 m : AshtechGps::processRecord() - $GPGGA,172638.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.030000 : AshtechGps::processRecord() - $GPGGA,172639.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172640.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172641.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172642.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172643.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.48 12.98 4.07 4.08 0 24858.89 02:57:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172644.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172645.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.47 2.17 12.40 3.97 4.08 0 9992.32 02:57:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172646.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172647.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 4.13 13.67 4.05 4.08 0 16082.51 02:57:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172648.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.030000 : AshtechGps::processRecord() - $GPGGA,172649.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172650.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172651.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172652.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172653.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.56 12.98 4.06 4.08 0 24858.66 02:57:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172654.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172655.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.51 2.28 12.40 3.97 4.08 0 9992.14 02:57:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.943802 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.943802 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.943802 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.943802 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172656.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.943802 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.943802 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.943802 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.256862 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.256862 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172657.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.256862 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.256862 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.64 3.88 13.67 4.05 4.08 0 16082.08 02:57:32 m : DepthEnvelope -- Measured altitude 9.256862 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.256862 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.256862 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172658.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.629307 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.629307 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : DepthEnvelope -- Measured altitude 8.629307 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.629307 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.629307 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172659.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.629307 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.629307 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.629307 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.348642 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.348642 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172700.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.348642 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.348642 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.348642 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.348642 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.348642 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172701.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.791855 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.791855 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.791855 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.791855 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.791855 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172702.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.791855 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.791855 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.233416 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.233416 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.233416 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172703.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 1.26 13.08 4.06 4.08 0 24858.37 02:57:38 m : DepthEnvelope -- Measured altitude 7.233416 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.233416 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.233416 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.233416 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.233416 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172704.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.604227 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.604227 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.604227 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.604227 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.604227 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172705.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.604227 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.62 0.61 12.40 3.99 4.10 0 9992.01 02:57:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.604227 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.030033 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.030033 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.030033 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172706.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.030033 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.030033 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.030033 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.030033 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.706981 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172707.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.706981 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.706981 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.75 1.25 13.67 4.07 4.09 0 16081.99 02:57:42 m : DepthEnvelope -- Measured altitude 5.706981 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.706981 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.706981 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172708.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.706981 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.706981 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.040000 : DepthEnvelope -- Measured altitude 5.463875 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.463875 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.463875 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172709.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.463875 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.463875 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.463875 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.463875 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.402540 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172710.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.402540 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.402540 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.402540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.402540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.402540 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172711.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.402540 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.402540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.463275 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.463275 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.463275 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172712.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.463275 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.463275 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.463275 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.463275 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.524402 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172713.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 0.89 12.98 4.07 4.09 0 24858.30 02:57:48 m : DepthEnvelope -- Measured altitude 5.524402 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.524402 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.524402 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.524402 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.524402 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172714.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.524402 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.681024 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.681024 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.681024 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.681024 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172715.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.681024 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.62 0.68 12.40 3.99 4.10 0 9991.94 02:57:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.681024 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.681024 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.681024 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.656561 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172716.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.656561 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.656561 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.656561 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.656561 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.656561 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172717.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.656561 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.916751 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.75 1.54 13.67 4.07 4.09 0 16081.83 02:57:52 m : DepthEnvelope -- Measured altitude 5.916751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.916751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.916751 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172718.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.916751 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.916751 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.043334 : DepthEnvelope -- Measured altitude 5.916751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.898600 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.898600 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172719.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.898600 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.898600 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.898600 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.898600 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.898600 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172720.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.898600 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.064752 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.064752 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.064752 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.064752 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172721.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.064752 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.064752 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.064752 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.134869 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.134869 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172722.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.134869 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.134869 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.134869 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.134869 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.134869 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172723.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 1.26 13.08 4.07 4.09 0 24858.20 02:57:58 m : DepthEnvelope -- Measured altitude 6.339027 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.339027 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.339027 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.339027 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.339027 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172724.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.339027 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.339027 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.339027 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.514485 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.514485 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172725.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.514485 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.62 0.65 12.40 3.99 4.10 0 9991.87 02:58:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.514485 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.514485 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.514485 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.514485 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172726.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.700923 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.700923 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.700923 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.700923 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.700923 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172727.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.700923 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.700923 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.79 1.25 13.67 4.07 4.10 0 16081.73 02:58:02 m : DepthEnvelope -- Measured altitude 6.596006 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.596006 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.596006 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172728.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.596006 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.596006 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.043334 : DepthEnvelope -- Measured altitude 6.596006 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.596006 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.596006 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172729.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.739063 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.739063 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.739063 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.739063 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.739063 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172730.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.739063 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.739063 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.681433 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.681433 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.681433 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172731.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.681433 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.681433 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.681433 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.681433 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.711753 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172732.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.711753 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.711753 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.711753 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.711753 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.711753 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172733.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 0.85 12.98 4.08 4.09 0 24858.14 02:58:08 m : DepthEnvelope -- Measured altitude 6.711753 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.711753 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.802576 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.802576 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.802576 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172734.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.802576 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.802576 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.802576 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.802576 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.832085 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172735.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.832085 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.59 0.75 12.40 3.99 4.10 0 9991.80 02:58:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.832085 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.832085 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.832085 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.832085 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172736.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.832085 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.832085 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.043540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.043540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.043540 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172737.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.043540 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.043540 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.75 1.86 13.67 4.07 4.10 0 16081.57 02:58:12 m : DepthEnvelope -- Measured altitude 7.043540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.043540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.195447 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172738.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.195447 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.195447 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : DepthEnvelope -- Measured altitude 7.195447 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.195447 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.195447 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172739.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.195447 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.431332 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.431332 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.431332 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.431332 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172740.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.431332 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.431332 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.431332 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.431332 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.613267 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172741.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.613267 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.613267 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.613267 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.613267 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.613267 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172742.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.613267 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.751459 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.751459 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.751459 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.751459 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172743.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 0.85 12.98 4.08 4.09 0 24858.04 02:58:18 m : DepthEnvelope -- Measured altitude 7.751459 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.751459 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.751459 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.032232 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.032232 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172744.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.032232 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.032232 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.032232 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.032232 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.032232 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172745.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.032232 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.62 0.65 12.30 3.99 4.10 0 9991.73 02:58:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.333296 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.333296 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.333296 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.333296 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172746.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.333296 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.333296 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.333296 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.488242 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.488242 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172747.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.488242 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.488242 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.79 1.36 13.67 4.07 4.10 0 16081.48 02:58:22 m : DepthEnvelope -- Measured altitude 8.488242 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.488242 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.488242 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172748.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.591154 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.591154 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : DepthEnvelope -- Measured altitude 8.591154 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.591154 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.591154 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172749.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.591154 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.591154 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.591154 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.909864 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.909864 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172750.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.909864 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.909864 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.909864 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.909864 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.909864 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172751.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.964717 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.964717 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.964717 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.964717 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.964717 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172752.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.964717 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.964717 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.218050 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.218050 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.218050 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172753.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.59 0.85 12.98 4.08 4.09 0 24857.98 02:58:28 m : DepthEnvelope -- Measured altitude 9.218050 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.218050 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.218050 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.218050 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.218050 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172754.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.280080 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.280080 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.280080 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.280080 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.280080 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172755.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.280080 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.62 0.61 12.40 3.99 4.10 0 9991.68 02:58:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.280080 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.751385 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.751385 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.751385 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172756.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.751385 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.751385 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.751385 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.751385 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.919651 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172757.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.919651 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.919651 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.79 1.21 13.57 4.07 4.10 0 16081.33 02:58:32 m : DepthEnvelope -- Measured altitude 9.919651 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.919651 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.919651 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172758.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.919651 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.919651 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.046667 : DepthEnvelope -- altitude 10.330059 over abort altitude 10.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,172759.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172800.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172801.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172802.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172803.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 1.96 12.98 4.08 4.09 0 24857.89 02:58:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172804.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172805.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 2.13 12.30 3.98 4.09 0 9991.56 02:58:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172806.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172807.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.77 13.57 4.06 4.08 0 16081.16 02:58:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172808.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.039999 : AshtechGps::processRecord() - $GPGGA,172809.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172810.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172811.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172812.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172813.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.71 12.98 4.07 4.08 0 24857.66 02:58:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172814.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172815.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 3.29 12.40 3.98 4.09 0 9991.37 02:58:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172816.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172817.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.80 13.57 4.06 4.08 0 16080.73 02:58:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172818.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172819.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172820.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172821.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172822.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172823.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.63 12.98 4.07 4.08 0 24857.27 02:58:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172824.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172825.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.51 2.35 12.30 3.97 4.08 0 9991.11 02:59:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172826.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172827.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.68 3.19 13.57 4.05 4.08 0 16080.46 02:59:02 m : AshtechGps::processRecord() - $GPGGA,172828.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.030000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172829.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172830.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172831.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172832.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172833.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.15 12.98 4.06 4.07 0 24857.04 02:59:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172834.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172835.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.51 2.28 12.30 3.97 4.08 0 9990.94 02:59:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172836.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172837.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.26 13.57 4.05 4.08 0 16080.07 02:59:12 m : AshtechGps::processRecord() - $GPGGA,172838.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172839.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172840.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172841.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172842.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172843.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.11 12.98 4.06 4.07 0 24856.69 02:59:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172844.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172845.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.51 2.35 12.40 3.97 4.08 0 9990.70 02:59:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172846.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172847.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.68 3.16 13.57 4.05 4.08 0 16079.81 02:59:22 m : AshtechGps::processRecord() - $GPGGA,172848.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,172849.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172850.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172851.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172852.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172853.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.37 12.79 4.06 4.07 0 24856.46 02:59:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172854.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172855.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.51 2.13 12.30 3.97 4.08 0 9990.54 02:59:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172856.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172857.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.30 13.57 4.05 4.08 0 16079.43 02:59:32 m : AshtechGps::processRecord() - $GPGGA,172858.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,172859.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172900.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172901.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172902.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172903.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 2.92 12.98 4.06 4.07 0 24856.11 02:59:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172904.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172905.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.47 2.24 12.30 3.97 4.09 0 9990.27 02:59:40 m : AshtechGps::processRecord() - $GPGGA,172906.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172907.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.19 13.47 4.05 4.08 0 16079.18 02:59:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172908.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,172909.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172910.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172911.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172912.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172913.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 3.11 12.89 4.06 4.07 0 24855.89 02:59:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172914.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172915.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.51 2.24 12.40 3.97 4.09 0 9990.08 02:59:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172916.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172917.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.05 13.47 4.05 4.08 0 16078.79 02:59:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172918.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,172919.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172920.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172921.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172922.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172923.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.33 12.89 4.06 4.07 0 24855.56 02:59:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172924.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172925.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.51 2.13 12.40 3.97 4.08 0 9989.85 03:00:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172926.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172927.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.30 13.47 4.05 4.08 0 16078.53 03:00:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172928.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172929.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172930.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172931.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172932.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172933.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.07 12.89 4.06 4.08 0 24855.34 03:00:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172934.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172935.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.51 2.21 12.30 3.97 4.08 0 9989.69 03:00:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172936.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172937.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.64 3.16 13.47 4.05 4.08 0 16078.17 03:00:12 m : AshtechGps::processRecord() - $GPGGA,172938.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172939.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172940.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172941.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172942.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172943.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 3.11 12.79 4.06 4.08 0 24855.01 03:00:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172944.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172945.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.51 2.28 12.30 3.97 4.08 0 9989.45 03:00:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172946.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172947.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.12 13.47 4.05 4.08 0 16077.90 03:00:22 m : AshtechGps::processRecord() - $GPGGA,172948.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172949.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172950.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172951.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172952.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172953.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 2.89 12.79 4.06 4.07 0 24854.78 03:00:28 m : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172954.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172955.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.51 2.06 12.40 3.97 4.08 0 9989.30 03:00:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172956.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172957.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.55 13.47 4.05 4.08 0 16077.53 03:00:32 m : AshtechGps::processRecord() - $GPGGA,172958.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,172959.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173000.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173001.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173002.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173003.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.75 12.89 4.06 4.07 0 24854.41 03:00:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173004.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173005.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.51 2.35 12.30 3.97 4.08 0 9989.06 03:00:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173006.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173007.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.59 13.47 4.05 4.08 0 16077.25 03:00:42 m : AshtechGps::processRecord() - $GPGGA,173008.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,173009.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173010.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173011.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173012.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173013.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.26 12.69 4.06 4.07 0 24854.16 03:00:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173014.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173015.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.47 2.53 12.30 3.97 4.08 0 9988.88 03:00:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173016.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173017.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.48 13.47 4.05 4.08 0 16076.85 03:00:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173018.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,173019.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173020.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173021.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173022.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173023.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.33 12.89 4.06 4.07 0 24853.78 03:00:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173024.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173025.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 2.46 12.30 3.97 4.08 0 9988.62 03:01:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173026.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173027.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.44 13.47 4.05 4.08 0 16076.57 03:01:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173028.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,173029.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173030.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173031.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173032.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173033.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 3.37 12.79 4.06 4.07 0 24853.53 03:01:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173034.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173035.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.43 2.86 12.30 3.97 4.08 0 9988.45 03:01:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173036.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173037.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 4.31 13.47 4.05 4.08 0 16076.16 03:01:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173038.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173039.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173040.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173041.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173042.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173043.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.56 12.89 4.06 4.07 0 24853.14 03:01:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173044.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173045.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 2.42 12.30 3.97 4.08 0 9988.17 03:01:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173046.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173047.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.64 3.84 13.57 4.05 4.08 0 16075.89 03:01:22 m : AshtechGps::processRecord() - $GPGGA,173048.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173049.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173050.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173051.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173052.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173053.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.37 12.79 4.06 4.07 0 24852.87 03:01:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173054.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173055.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 2.42 12.30 3.97 4.08 0 9987.99 03:01:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173056.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173057.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.30 13.57 4.05 4.08 0 16075.49 03:01:32 m : AshtechGps::processRecord() - $GPGGA,173058.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173059.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173100.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173101.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173102.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173103.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.48 12.98 4.06 4.07 0 24852.51 03:01:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173104.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173105.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 2.24 12.30 3.97 4.08 0 9987.73 03:01:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173106.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173107.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.44 13.57 4.05 4.08 0 16075.19 03:01:42 m : AshtechGps::processRecord() - $GPGGA,173108.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,173109.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173110.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173111.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173112.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173113.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.59 12.98 4.06 4.07 0 24852.27 03:01:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173114.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173115.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.47 2.39 12.30 3.97 4.08 0 9987.55 03:01:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173116.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173117.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.52 13.57 4.05 4.08 0 16074.77 03:01:52 m : AshtechGps::processRecord() - $GPGGA,173118.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,173119.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173120.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173121.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173122.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173123.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 3.19 12.79 4.06 4.07 0 24851.91 03:01:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173124.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173125.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.47 2.24 12.20 3.97 4.08 0 9987.30 03:02:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173126.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173127.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.56 4.13 13.57 4.05 4.08 0 16074.51 03:02:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173128.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,173129.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173130.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173131.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173132.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173133.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 3.22 12.98 4.06 4.07 0 24851.66 03:02:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173134.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173135.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.47 2.50 12.30 3.97 4.08 0 9987.09 03:02:10 m : AshtechGps::processRecord() - $GPGGA,173136.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173137.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.37 13.57 4.05 4.08 0 16074.11 03:02:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173138.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,173139.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173140.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173141.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173142.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173143.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.41 12.98 4.06 4.07 0 24851.31 03:02:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173144.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173145.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 2.50 12.20 3.97 4.08 0 9986.82 03:02:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173146.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173147.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.41 13.57 4.05 4.08 0 16073.85 03:02:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173148.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173149.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173150.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173151.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173152.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173153.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.41 12.79 4.06 4.07 0 24851.07 03:02:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173154.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173155.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.51 2.35 12.30 3.97 4.08 0 9986.65 03:02:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173156.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173157.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.60 3.91 13.57 4.05 4.08 0 16073.47 03:02:32 m : AshtechGps::processRecord() - $GPGGA,173158.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173159.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173200.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173201.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173202.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173203.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.44 12.98 4.06 4.07 0 24850.69 03:02:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173204.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173205.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.47 2.35 12.20 3.97 4.08 0 9986.39 03:02:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173206.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173207.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.84 13.67 4.05 4.08 0 16073.20 03:02:42 m : AshtechGps::processRecord() - $GPGGA,173208.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173209.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.643390 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.643390 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.643390 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.643390 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173210.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.643390 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.643390 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.643390 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.987061 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.987061 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173211.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.987061 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.987061 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.987061 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.987061 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.987061 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173212.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.987061 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.607542 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.607542 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.607542 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.607542 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173213.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 0.85 12.98 4.06 4.07 0 24850.43 03:02:48 m : DepthEnvelope -- Measured altitude 8.607542 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.607542 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.607542 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.997262 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.997262 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173214.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.997262 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.997262 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.997262 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.997262 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.997262 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173215.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.277495 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.59 0.94 12.30 3.97 4.08 0 9986.27 03:02:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.277495 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.277495 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.277495 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.277495 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173216.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.277495 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.277495 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.277495 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.638389 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.638389 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173217.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.638389 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.638389 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.71 1.50 13.57 4.05 4.08 0 16072.96 03:02:52 m : DepthEnvelope -- Measured altitude 6.638389 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.638389 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.638389 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173218.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.979181 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.979181 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : DepthEnvelope -- Measured altitude 5.979181 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.979181 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.979181 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173219.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.979181 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.979181 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.708078 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.708078 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.708078 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173220.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.708078 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.708078 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.708078 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.708078 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.708078 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173221.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.698833 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.698833 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.698833 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.698833 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.698833 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173222.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.698833 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.698833 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.714290 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.714290 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.714290 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173223.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 1.14 12.98 4.06 4.07 0 24850.34 03:02:58 m : DepthEnvelope -- Measured altitude 5.714290 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.714290 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.714290 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.714290 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.890860 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173224.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.890860 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.890860 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.890860 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.890860 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.890860 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173225.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.890860 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.59 0.65 12.30 3.98 4.09 0 9986.18 03:03:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.890860 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.213313 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.213313 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.213313 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173226.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.213313 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.213313 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.213313 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.213313 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.536138 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173227.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.536138 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.536138 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.75 1.29 13.57 4.06 4.09 0 16072.83 03:03:02 m : DepthEnvelope -- Measured altitude 6.536138 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.536138 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.536138 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173228.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.536138 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.536138 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.033333 : DepthEnvelope -- Measured altitude 6.546152 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.546152 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.546152 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173229.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.546152 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.546152 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.546152 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.546152 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.908192 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173230.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.908192 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.908192 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.908192 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.908192 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.908192 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173231.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.908192 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.012322 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.012322 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.012322 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.012322 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173232.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.012322 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.012322 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.012322 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.012322 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.161356 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173233.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 0.92 12.89 4.07 4.08 0 24850.26 03:03:08 m : DepthEnvelope -- Measured altitude 7.161356 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.161356 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.161356 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.161356 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.161356 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173234.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.161356 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.397836 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.397836 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.397836 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.397836 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173235.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.397836 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.59 0.79 12.30 3.98 4.09 0 9986.11 03:03:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.397836 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.397836 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.531097 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.531097 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173236.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.531097 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.531097 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.531097 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.531097 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.531097 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173237.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.531097 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.691626 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.75 1.25 13.57 4.06 4.09 0 16072.66 03:03:12 m : DepthEnvelope -- Measured altitude 7.691626 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.691626 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.691626 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173238.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.691626 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.691626 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : DepthEnvelope -- Measured altitude 7.691626 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.817054 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.817054 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173239.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.817054 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.817054 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.817054 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.817054 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.817054 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173240.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.830911 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.830911 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.830911 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.830911 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.830911 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173241.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.830911 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.830911 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.830911 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.928165 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.928165 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173242.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.928165 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.928165 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.928165 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.928165 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.928165 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173243.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 1.11 12.79 4.07 4.08 0 24850.16 03:03:18 m : DepthEnvelope -- Measured altitude 8.023178 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.023178 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.023178 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.023178 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.023178 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173244.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.023178 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.023178 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.952393 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.952393 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.952393 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173245.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.952393 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.59 0.68 12.20 3.98 4.10 0 9986.02 03:03:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.952393 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.952393 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.952393 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.952393 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173246.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.834545 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.834545 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.834545 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.834545 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.834545 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173247.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.834545 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.834545 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.75 1.79 13.57 4.07 4.09 0 16072.53 03:03:22 m : DepthEnvelope -- Measured altitude 7.970605 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.970605 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.970605 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173248.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.970605 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.970605 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.040000 : DepthEnvelope -- Measured altitude 7.970605 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.970605 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.970605 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173249.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.960337 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.960337 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.960337 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.960337 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.960337 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173250.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.960337 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.960337 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.175076 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.175076 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.175076 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173251.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.175076 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.175076 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.175076 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.175076 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.269335 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173252.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.269335 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.269335 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.269335 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.269335 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.269335 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173253.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 0.81 12.98 4.07 4.08 0 24850.09 03:03:28 m : DepthEnvelope -- Measured altitude 8.269335 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.269335 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.464227 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.464227 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.464227 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173254.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.464227 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.464227 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.464227 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.464227 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.688195 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173255.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.688195 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.62 0.68 12.30 3.98 4.10 0 9985.97 03:03:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.688195 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.688195 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.688195 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.688195 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173256.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.688195 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.972243 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.972243 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.972243 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.972243 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173257.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.972243 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.972243 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.75 1.32 13.47 4.07 4.09 0 16072.38 03:03:32 m : DepthEnvelope -- Measured altitude 8.972243 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.972243 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.272057 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173258.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.272057 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.272057 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.040000 : DepthEnvelope -- Measured altitude 9.272057 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.272057 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.272057 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173259.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.272057 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.330259 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.330259 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.330259 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.330259 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173300.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.330259 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.330259 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.330259 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.619047 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.619047 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173301.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.619047 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.619047 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.619047 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.619047 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.619047 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173302.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.619047 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.868610 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.868610 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.868610 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.868610 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173303.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.55 0.85 12.79 4.07 4.08 0 24849.99 03:03:38 m : DepthEnvelope -- Measured altitude 9.868610 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.868610 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.868610 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.007867 over abort altitude 10.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,173304.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173305.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.62 0.68 12.30 3.98 4.10 0 9985.88 03:03:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173306.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173307.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.71 1.86 13.47 4.07 4.09 0 16072.29 03:03:42 m : AshtechGps::processRecord() - $GPGGA,173308.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.040000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173309.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173310.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173311.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173312.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173313.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 3.75 12.89 4.07 4.08 0 24849.87 03:03:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173314.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173315.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 2.57 12.20 3.98 4.10 0 9985.72 03:03:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173316.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.843251 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173317.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.843251 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.843251 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.60 4.34 13.47 4.07 4.09 0 16071.88 03:03:52 m : DepthEnvelope -- Measured altitude 9.843251 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.843251 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.843251 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173318.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.843251 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.820834 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.040000 : DepthEnvelope -- Measured altitude 9.820834 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.820834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.820834 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173319.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.820834 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.820834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.820834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.820834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.111920 over abort altitude 10.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173320.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173321.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173322.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173323.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 0.92 12.79 4.07 4.08 0 24849.55 03:03:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173324.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173325.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.51 2.35 12.30 3.98 4.09 0 9985.53 03:04:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173326.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173327.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.59 13.47 4.06 4.08 0 16071.70 03:04:02 m : AshtechGps::processRecord() - $GPGGA,173328.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : AshtechGps::processRecord() - $GPGGA,173329.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173330.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173331.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173332.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173333.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.37 12.79 4.07 4.07 0 24849.34 03:04:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173334.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173335.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 2.50 12.20 3.98 4.09 0 9985.36 03:04:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173336.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173337.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.52 13.47 4.06 4.08 0 16071.33 03:04:12 m : AshtechGps::processRecord() - $GPGGA,173338.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : AshtechGps::processRecord() - $GPGGA,173339.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173340.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173341.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173342.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173343.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.00 12.79 4.07 4.07 0 24848.99 03:04:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173344.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173345.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.51 2.21 12.20 3.97 4.08 0 9985.14 03:04:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173346.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173347.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.48 13.47 4.05 4.08 0 16071.10 03:04:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173348.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.030000 : AshtechGps::processRecord() - $GPGGA,173349.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173350.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173351.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173352.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173353.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 2.96 12.89 4.06 4.07 0 24848.77 03:04:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173354.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173355.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 2.28 12.20 3.97 4.08 0 9984.98 03:04:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173356.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173357.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.23 13.47 4.05 4.08 0 16070.75 03:04:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173358.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,173359.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173400.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173401.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173402.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173403.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 2.89 12.79 4.06 4.07 0 24848.45 03:04:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173404.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173405.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.47 2.39 12.20 3.97 4.08 0 9984.76 03:04:40 m : AshtechGps::processRecord() - $GPGGA,173406.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173407.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.73 13.47 4.05 4.08 0 16070.52 03:04:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173408.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173409.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173410.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173411.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173412.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173413.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 2.96 12.79 4.06 4.07 0 24848.22 03:04:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173414.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173415.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.47 2.17 12.20 3.97 4.08 0 9984.61 03:04:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173416.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173417.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.64 3.37 13.47 4.05 4.08 0 16070.17 03:04:52 m : AshtechGps::processRecord() - $GPGGA,173418.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173419.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173420.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173421.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173422.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173423.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 2.82 12.69 4.06 4.07 0 24847.89 03:04:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173424.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173425.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.39 2.71 12.20 3.97 4.08 0 9984.37 03:05:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173426.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173427.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.41 13.47 4.05 4.08 0 16069.93 03:05:02 m : AshtechGps::processRecord() - $GPGGA,173428.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173429.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173430.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173431.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173432.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173433.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 2.70 12.69 4.06 4.07 0 24847.68 03:05:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173434.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173435.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.51 2.31 12.20 3.97 4.08 0 9984.22 03:05:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173436.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173437.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.37 13.37 4.05 4.08 0 16069.58 03:05:12 m : AshtechGps::processRecord() - $GPGGA,173438.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,173439.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173440.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173441.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173442.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173443.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 2.78 12.69 4.06 4.07 0 24847.34 03:05:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173444.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173445.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.51 2.13 12.20 3.97 4.08 0 9984.00 03:05:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173446.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173447.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.12 13.47 4.05 4.08 0 16069.35 03:05:22 m : AshtechGps::processRecord() - $GPGGA,173448.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,173449.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173450.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173451.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173452.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173453.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 2.92 12.79 4.06 4.07 0 24847.12 03:05:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173454.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173455.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.47 2.17 12.20 3.97 4.08 0 9983.83 03:05:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173456.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173457.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.23 13.47 4.05 4.08 0 16069.00 03:05:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173458.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,173459.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173500.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173501.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173502.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173503.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 2.96 12.69 4.06 4.07 0 24846.73 03:05:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173504.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173505.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 2.31 12.20 3.97 4.08 0 9983.61 03:05:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173506.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173507.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 3.37 13.47 4.05 4.08 0 16068.76 03:05:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173508.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,173509.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173510.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173511.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173512.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173513.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.07 12.69 4.06 4.07 0 24846.52 03:05:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173514.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173515.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 2.42 12.20 3.97 4.08 0 9983.44 03:05:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173516.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173517.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 3.66 13.37 4.05 4.08 0 16068.38 03:05:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173518.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173519.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173520.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173521.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173522.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173523.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.15 12.79 4.06 4.07 0 24846.17 03:05:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173524.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173525.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 2.24 12.20 3.96 4.08 0 9983.14 03:06:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173526.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173527.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.56 3.70 13.47 4.05 4.08 0 16068.11 03:06:02 m : AshtechGps::processRecord() - $GPGGA,173528.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.023334 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173529.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173530.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173531.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173532.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173533.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.26 12.79 4.06 4.07 0 24845.91 03:06:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173534.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173535.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 2.42 12.20 3.96 4.08 0 9982.98 03:06:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173536.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173537.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 3.73 13.47 4.05 4.08 0 16067.67 03:06:12 m : AshtechGps::processRecord() - $GPGGA,173538.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.023334 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173539.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173540.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173541.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173542.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173543.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.07 12.69 4.06 4.07 0 24845.55 03:06:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173544.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173545.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.43 2.46 12.20 3.96 4.08 0 9982.74 03:06:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173546.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173547.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 3.91 13.47 4.05 4.08 0 16067.42 03:06:22 m : AshtechGps::processRecord() - $GPGGA,173548.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.023334 : AshtechGps::processRecord() - $GPGGA,173549.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173550.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173551.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173552.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173553.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 2.89 12.79 4.06 4.07 0 24845.31 03:06:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173554.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173555.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 2.75 12.20 3.96 4.08 0 9982.57 03:06:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173556.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173557.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 3.66 13.47 4.05 4.08 0 16067.06 03:06:32 m : AshtechGps::processRecord() - $GPGGA,173558.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.023334 : AshtechGps::processRecord() - $GPGGA,173559.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173600.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173601.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173602.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173603.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 3.07 12.69 4.06 4.07 0 24844.93 03:06:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173604.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173605.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.43 2.42 12.20 3.96 4.08 0 9982.31 03:06:40 m : AshtechGps::processRecord() - $GPGGA,173606.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173607.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 3.77 13.47 4.05 4.08 0 16066.78 03:06:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173608.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.023334 : AshtechGps::processRecord() - $GPGGA,173609.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173610.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173611.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173612.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173613.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.19 12.79 4.06 4.07 0 24844.68 03:06:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173614.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173615.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 2.46 12.20 3.96 4.08 0 9982.14 03:06:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173616.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173617.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 3.70 13.47 4.05 4.08 0 16066.42 03:06:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173618.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.023334 : AshtechGps::processRecord() - $GPGGA,173619.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173620.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173621.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173622.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173623.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.11 12.69 4.06 4.07 0 24844.32 03:06:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173624.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173625.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.47 2.28 12.20 3.97 4.08 0 9981.90 03:07:00 m : AshtechGps::processRecord() - $GPGGA,173626.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173627.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 4.13 13.57 4.05 4.08 0 16066.17 03:07:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173628.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173629.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173630.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173631.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173632.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173633.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.15 12.89 4.06 4.07 0 24844.09 03:07:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173634.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173635.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 2.46 12.20 3.97 4.08 0 9981.73 03:07:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173636.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173637.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.60 3.48 13.47 4.05 4.08 0 16065.80 03:07:12 m : AshtechGps::processRecord() - $GPGGA,173638.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173639.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173640.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173641.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173642.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173643.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.22 12.79 4.06 4.07 0 24843.74 03:07:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173644.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173645.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 2.39 12.20 3.96 4.08 0 9981.49 03:07:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173646.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173647.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 3.62 13.47 4.05 4.08 0 16065.54 03:07:22 m : AshtechGps::processRecord() - $GPGGA,173648.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.023334 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173649.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173650.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173651.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173652.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173653.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 3.04 12.79 4.06 4.07 0 24843.52 03:07:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173654.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173655.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 2.39 12.20 3.96 4.08 0 9981.32 03:07:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173656.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173657.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 3.52 13.47 4.05 4.08 0 16065.17 03:07:32 m : AshtechGps::processRecord() - $GPGGA,173658.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.023334 : AshtechGps::processRecord() - $GPGGA,173659.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173700.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173701.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173702.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173703.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 3.04 12.79 4.06 4.07 0 24843.16 03:07:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173704.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173705.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.47 2.28 12.20 3.97 4.08 0 9981.06 03:07:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173706.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173707.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 3.77 13.47 4.05 4.08 0 16064.93 03:07:42 m : AshtechGps::processRecord() - $GPGGA,173708.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,173709.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173710.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173711.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173712.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173713.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 2.92 12.79 4.06 4.07 0 24842.92 03:07:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173714.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173715.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.47 2.28 12.20 3.97 4.08 0 9980.90 03:07:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173716.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173717.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 3.66 13.47 4.05 4.08 0 16064.54 03:07:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173718.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,173719.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173720.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173721.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173722.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.915833 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.915833 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.915833 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.915833 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.915833 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173723.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 4.04 12.79 4.06 4.07 0 24842.56 03:07:58 m : DepthEnvelope -- Measured altitude 9.915833 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.915833 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.206056 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.206056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.206056 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173724.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.206056 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.206056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.206056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.206056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.206056 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173725.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.896069 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.47 2.10 12.20 3.96 4.08 0 9980.65 03:08:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.896069 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.896069 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.896069 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.896069 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173726.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.896069 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.896069 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.675952 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.675952 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.675952 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173727.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.675952 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.675952 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.68 1.32 13.47 4.05 4.08 0 16064.29 03:08:02 m : DepthEnvelope -- Measured altitude 8.675952 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.675952 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.836583 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173728.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.836583 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.836583 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.023334 : DepthEnvelope -- Measured altitude 7.836583 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.836583 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.836583 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173729.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.836583 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.836583 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.185753 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.185753 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.185753 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173730.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.185753 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.185753 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.185753 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.185753 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.689825 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173731.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.689825 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.689825 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.689825 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.689825 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.689825 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173732.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.689825 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.213423 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.213423 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.213423 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.213423 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173733.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 1.00 12.98 4.06 4.07 0 24842.43 03:08:08 m : DepthEnvelope -- Measured altitude 6.213423 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.213423 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.213423 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.213423 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.099137 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173734.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.099137 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.099137 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.099137 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.099137 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.099137 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173735.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.099137 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.55 0.75 12.20 3.96 4.08 0 9980.58 03:08:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.009526 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.009526 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.009526 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.009526 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173736.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.009526 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.009526 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.009526 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.084930 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.084930 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173737.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.084930 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.084930 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.68 1.50 13.47 4.05 4.08 0 16064.13 03:08:12 m : DepthEnvelope -- Measured altitude 6.084930 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.084930 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.084930 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173738.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.084930 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.297120 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.023334 : DepthEnvelope -- Measured altitude 6.297120 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.297120 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.297120 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173739.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.297120 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.297120 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.297120 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.524685 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.524685 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173740.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.524685 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.524685 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.524685 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.524685 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.524685 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173741.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.524685 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.745744 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.745744 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.745744 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.745744 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173742.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.745744 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.745744 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.745744 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.906094 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.906094 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173743.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 1.29 12.79 4.06 4.07 0 24842.33 03:08:18 m : DepthEnvelope -- Measured altitude 6.906094 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.906094 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.906094 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.906094 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.906094 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173744.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.144865 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.144865 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.144865 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.144865 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.144865 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173745.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.144865 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.59 0.83 12.20 3.98 4.09 0 9980.49 03:08:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.144865 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.144865 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.237072 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.237072 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173746.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.237072 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.237072 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.237072 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.237072 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.237072 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173747.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.544617 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.544617 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.71 1.25 13.47 4.06 4.09 0 16064.02 03:08:22 m : DepthEnvelope -- Measured altitude 7.544617 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.544617 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.544617 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173748.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.544617 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.544617 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.033333 : DepthEnvelope -- Measured altitude 7.628213 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.628213 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.628213 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173749.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.628213 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.628213 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.628213 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.628213 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.628213 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173750.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.808392 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.808392 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.808392 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.808392 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.808392 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173751.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.808392 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.808392 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.852331 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.852331 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.852331 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173752.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.852331 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.852331 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.852331 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.852331 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.909198 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173753.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 0.89 12.79 4.07 4.08 0 24842.26 03:08:28 m : DepthEnvelope -- Measured altitude 7.909198 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.909198 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.909198 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.909198 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.909198 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173754.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.909198 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.909198 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.054738 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.054738 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.054738 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173755.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.054738 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.59 0.83 12.20 3.98 4.09 0 9980.44 03:08:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.054738 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.054738 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.054738 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.119433 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173756.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.119433 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.119433 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.119433 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.119433 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.119433 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173757.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.119433 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.016317 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.71 1.65 13.47 4.06 4.09 0 16063.86 03:08:32 m : DepthEnvelope -- Measured altitude 8.016317 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.016317 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.016317 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173758.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.016317 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.016317 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : DepthEnvelope -- Measured altitude 8.016317 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.016317 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.960427 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173759.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.960427 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.960427 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.960427 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.960427 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.960427 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173800.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.960427 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.056118 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.056118 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.056118 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.056118 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173801.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.056118 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.056118 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.056118 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.056118 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.016306 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173802.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.016306 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.016306 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.016306 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.016306 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.016306 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173803.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 0.81 12.89 4.07 4.08 0 24842.17 03:08:38 m : DepthEnvelope -- Measured altitude 8.016306 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.278873 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.278873 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.278873 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.278873 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173804.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.278873 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.278873 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.278873 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.342846 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.342846 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173805.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.342846 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.59 0.68 12.20 3.98 4.09 0 9980.35 03:08:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.342846 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.342846 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.342846 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.342846 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173806.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.342846 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.505202 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.505202 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.505202 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.505202 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173807.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.505202 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.505202 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.71 1.25 13.47 4.06 4.09 0 16063.77 03:08:42 m : DepthEnvelope -- Measured altitude 8.505202 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.719275 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.719275 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173808.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.719275 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.719275 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : DepthEnvelope -- Measured altitude 8.719275 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.719275 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.719275 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173809.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.111296 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.111296 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.111296 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.111296 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.111296 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173810.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.111296 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.111296 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.111296 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.148561 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.148561 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173811.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.148561 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.148561 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.148561 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.148561 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.148561 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173812.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.405030 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.405030 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.405030 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.405030 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.405030 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173813.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.51 0.85 12.79 4.07 4.08 0 24842.10 03:08:48 m : DepthEnvelope -- Measured altitude 9.405030 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.405030 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.538816 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.538816 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.538816 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173814.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.538816 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.538816 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.538816 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.538816 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.538816 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173815.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.981627 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.55 0.68 12.20 3.98 4.09 0 9980.29 03:08:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.981627 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.981627 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.981627 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.981627 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173816.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.981627 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.981627 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.004472 over abort altitude 10.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173817.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.68 1.68 13.47 4.06 4.09 0 16063.63 03:08:52 m : AshtechGps::processRecord() - $GPGGA,173818.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : AshtechGps::processRecord() - $GPGGA,173819.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173820.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173821.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173822.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173823.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.19 12.79 4.07 4.08 0 24841.96 03:08:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173824.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173825.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.43 2.53 12.20 3.96 4.08 0 9980.12 03:09:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173826.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173827.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 4.13 13.47 4.05 4.08 0 16063.40 03:09:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173828.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,173829.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : DepthEnvelope -- Measured altitude 9.880052 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.880052 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173830.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.880052 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.880052 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.880052 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.880052 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.880052 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173831.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.916628 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.916628 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.916628 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.916628 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.916628 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173832.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.916628 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.916628 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.916628 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.423949 over abort altitude 10.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,173833.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 1.70 12.69 4.06 4.07 0 24841.72 03:09:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173834.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173835.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.55 0.83 12.20 3.96 4.08 0 9979.97 03:09:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173836.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173837.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 2.80 13.47 4.05 4.08 0 16063.07 03:09:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173838.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.023334 : AshtechGps::processRecord() - $GPGGA,173839.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173840.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173841.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173842.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173843.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.15 12.79 4.06 4.07 0 24841.47 03:09:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173844.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173845.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 2.53 12.20 3.96 4.08 0 9979.73 03:09:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173846.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173847.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 3.52 13.37 4.05 4.07 0 16062.80 03:09:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173848.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.023334 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173849.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173850.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173851.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173852.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173853.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.59 12.79 4.05 4.07 0 24841.23 03:09:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173854.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173855.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 2.50 12.10 3.96 4.08 0 9979.56 03:09:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173856.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173857.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.64 3.19 13.37 4.05 4.07 0 16062.41 03:09:32 m : AshtechGps::processRecord() - $GPGGA,173858.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.020000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173859.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173900.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173901.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173902.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173903.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.04 12.79 4.05 4.07 0 24840.88 03:09:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173904.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173905.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 2.28 12.10 3.96 4.08 0 9979.30 03:09:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173906.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173907.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 4.20 13.47 4.05 4.08 0 16062.16 03:09:42 m : AshtechGps::processRecord() - $GPGGA,173908.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.020000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173909.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173910.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173911.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173912.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173913.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.22 12.79 4.06 4.07 0 24840.67 03:09:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173914.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173915.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.47 2.13 12.10 3.96 4.08 0 9979.14 03:09:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173916.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173917.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 3.26 13.28 4.05 4.08 0 16061.79 03:09:52 m : AshtechGps::processRecord() - $GPGGA,173918.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.023334 : AshtechGps::processRecord() - $GPGGA,173919.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173920.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173921.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173922.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173923.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.37 12.79 4.06 4.07 0 24840.35 03:09:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173924.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173925.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 2.35 12.20 3.97 4.08 0 9978.89 03:10:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173926.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173927.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.56 3.48 13.37 4.05 4.08 0 16061.54 03:10:02 m : AshtechGps::processRecord() - $GPGGA,173928.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,173929.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173930.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173931.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173932.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173933.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 3.00 12.69 4.05 4.07 0 24840.08 03:10:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173934.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173935.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.43 2.39 12.20 3.97 4.08 0 9978.72 03:10:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173936.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173937.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 3.37 13.37 4.05 4.08 0 16061.14 03:10:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173938.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.023334 : AshtechGps::processRecord() - $GPGGA,173939.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173940.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173941.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173942.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173943.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.04 12.69 4.05 4.07 0 24839.74 03:10:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173944.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173945.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 2.28 12.20 3.96 4.08 0 9978.47 03:10:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173946.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173947.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 3.48 13.37 4.05 4.07 0 16060.90 03:10:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173948.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.020000 : AshtechGps::processRecord() - $GPGGA,173949.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173950.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173951.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173952.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173953.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 3.15 12.79 4.05 4.07 0 24839.51 03:10:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173954.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173955.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 2.35 12.20 3.96 4.08 0 9978.31 03:10:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173956.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173957.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 3.91 13.28 4.05 4.07 0 16060.52 03:10:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173958.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.020000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173959.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174000.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174001.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174002.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174003.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.33 12.69 4.05 4.07 0 24839.17 03:10:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174004.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174005.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.43 2.21 12.20 3.96 4.08 0 9978.05 03:10:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174006.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174007.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.60 3.12 13.37 4.05 4.07 0 16060.27 03:10:42 m : AshtechGps::processRecord() - $GPGGA,174008.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.020000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174009.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174010.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174011.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174012.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174013.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 3.11 12.69 4.06 4.07 0 24838.94 03:10:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174014.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174015.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 2.21 12.20 3.96 4.08 0 9977.89 03:10:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174016.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174017.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 3.48 13.37 4.05 4.07 0 16059.91 03:10:52 m : AshtechGps::processRecord() - $GPGGA,174018.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.023334 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174019.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174020.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174021.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174022.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174023.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.26 12.69 4.06 4.07 0 24838.62 03:10:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174024.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174025.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 2.02 12.20 3.96 4.08 0 9977.65 03:11:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174026.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174027.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.98 13.28 4.05 4.08 0 16059.67 03:11:02 m : AshtechGps::processRecord() - $GPGGA,174028.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.023334 : AshtechGps::processRecord() - $GPGGA,174029.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174030.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174031.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174032.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174033.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 4.56 12.59 4.06 4.07 0 24838.41 03:11:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174034.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174035.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.43 2.75 12.20 3.96 4.08 0 9977.48 03:11:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174036.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174037.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 3.55 13.37 4.05 4.08 0 16059.27 03:11:12 m : AshtechGps::processRecord() - $GPGGA,174038.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.023334 : AshtechGps::processRecord() - $GPGGA,174039.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174040.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174041.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174042.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174043.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 4.67 12.69 4.06 4.07 0 24838.04 03:11:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174044.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174045.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.35 3.29 12.20 3.95 4.07 0 9977.18 03:11:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174046.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174047.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.98 13.37 4.04 4.07 0 16058.95 03:11:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174048.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,174049.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174050.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174051.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174052.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174053.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 3.48 12.79 4.04 4.06 0 24837.75 03:11:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174054.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174055.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.43 2.31 12.10 3.95 4.07 0 9976.97 03:11:30 m : AshtechGps::processRecord() - $GPGGA,174056.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174057.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 3.44 13.37 4.04 4.07 0 16058.54 03:11:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174058.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.010000 : AshtechGps::processRecord() - $GPGGA,174059.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174100.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174101.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174102.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174103.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.37 12.69 4.04 4.06 0 24837.38 03:11:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174104.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174105.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.43 2.50 12.10 3.96 4.08 0 9976.69 03:11:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174106.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174107.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 3.41 13.47 4.04 4.07 0 16058.25 03:11:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174108.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.013333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174109.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174110.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174111.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174112.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174113.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 3.59 12.79 4.05 4.07 0 24837.14 03:11:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174114.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174115.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.39 2.39 12.10 3.96 4.08 0 9976.52 03:11:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174116.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174117.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.60 3.52 13.47 4.04 4.07 0 16057.86 03:11:52 m : AshtechGps::processRecord() - $GPGGA,174118.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174119.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174120.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174121.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174122.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174123.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 3.22 12.79 4.05 4.07 0 24836.77 03:11:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174124.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174125.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.43 3.40 12.10 3.96 4.08 0 9976.22 03:12:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174126.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174127.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 4.09 13.47 4.04 4.07 0 16057.57 03:12:02 m : AshtechGps::processRecord() - $GPGGA,174128.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174129.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174130.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174131.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174132.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174133.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 3.22 12.79 4.05 4.06 0 24836.52 03:12:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174134.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174135.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.43 2.28 12.10 3.96 4.08 0 9976.04 03:12:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174136.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174137.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.56 3.44 13.47 4.04 4.07 0 16057.17 03:12:12 m : AshtechGps::processRecord() - $GPGGA,174138.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,174139.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174140.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174141.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174142.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174143.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.67 12.79 4.05 4.06 0 24836.17 03:12:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174144.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174145.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.43 2.28 12.10 3.96 4.08 0 9975.79 03:12:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174146.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174147.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 3.34 13.47 4.04 4.07 0 16056.92 03:12:22 m : AshtechGps::processRecord() - $GPGGA,174148.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,174149.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174150.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174151.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174152.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174153.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 3.52 12.69 4.05 4.07 0 24835.92 03:12:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174154.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174155.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.43 2.50 12.10 3.96 4.08 0 9975.61 03:12:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174156.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174157.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.56 3.55 13.47 4.04 4.07 0 16056.52 03:12:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174158.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,174159.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174200.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174201.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174202.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174203.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.30 12.79 4.05 4.07 0 24835.54 03:12:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174204.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174205.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.39 2.53 12.10 3.96 4.08 0 9975.35 03:12:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174206.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174207.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.56 3.30 13.47 4.04 4.07 0 16056.25 03:12:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174208.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,174209.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174210.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174211.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174212.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174213.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.22 12.69 4.05 4.06 0 24835.31 03:12:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174214.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174215.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.43 2.39 12.10 3.96 4.08 0 9975.17 03:12:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174216.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174217.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.56 3.34 13.47 4.04 4.07 0 16055.85 03:12:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174218.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174219.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174220.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174221.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174222.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174223.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.15 12.79 4.05 4.06 0 24834.95 03:12:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174224.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174225.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.39 2.46 12.10 3.96 4.08 0 9974.90 03:13:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174226.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174227.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.60 3.41 13.47 4.04 4.07 0 16055.58 03:13:02 m : AshtechGps::processRecord() - $GPGGA,174228.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174229.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174230.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174231.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174232.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174233.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 3.67 12.79 4.05 4.07 0 24834.71 03:13:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174234.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174235.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.39 2.35 12.10 3.96 4.08 0 9974.72 03:13:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174236.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174237.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.56 3.26 13.47 4.04 4.07 0 16055.18 03:13:12 m : AshtechGps::processRecord() - $GPGGA,174238.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174239.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.486117 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.486117 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.486117 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174240.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.486117 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.486117 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.486117 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.486117 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.920655 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174241.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.920655 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.920655 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.920655 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.920655 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.920655 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174242.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.920655 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.920655 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.321580 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.321580 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.321580 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174243.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 1.96 12.69 4.05 4.07 0 24834.34 03:13:18 m : DepthEnvelope -- Measured altitude 8.321580 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.321580 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.321580 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.321580 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.741922 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174244.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.741922 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.741922 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.741922 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.741922 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.741922 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174245.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.741922 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.51 1.44 12.10 3.98 4.09 0 9974.53 03:13:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.189783 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.189783 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.189783 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.189783 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174246.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.189783 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.189783 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.189783 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.189783 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.405956 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174247.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.405956 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.405956 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.68 1.25 13.47 4.06 4.08 0 16054.99 03:13:22 m : DepthEnvelope -- Measured altitude 6.405956 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.405956 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.405956 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174248.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.405956 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.903794 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.030000 : DepthEnvelope -- Measured altitude 5.903794 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.903794 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.903794 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174249.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.903794 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.903794 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.903794 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.563341 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.563341 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174250.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.563341 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.563341 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.563341 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.563341 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.563341 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174251.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.563341 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.685808 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.685808 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.685808 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.685808 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174252.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.685808 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.685808 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.685808 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.794195 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.794195 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174253.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 1.07 12.79 4.06 4.07 0 24834.26 03:13:28 m : DepthEnvelope -- Measured altitude 5.794195 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.794195 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.794195 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.794195 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.794195 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174254.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.064334 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.064334 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.064334 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.064334 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.064334 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174255.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.064334 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.55 0.72 12.10 3.98 4.09 0 9974.46 03:13:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.064334 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.064334 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.307588 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.307588 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174256.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.307588 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.307588 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.307588 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.307588 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.307588 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174257.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.470128 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.470128 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.68 1.65 13.47 4.06 4.08 0 16054.80 03:13:32 m : DepthEnvelope -- Measured altitude 6.470128 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.470128 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.470128 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174258.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.470128 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.470128 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.033333 : DepthEnvelope -- Measured altitude 6.470128 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.736930 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.736930 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174259.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.736930 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.736930 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.736930 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.736930 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.736930 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174300.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.964765 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.964765 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.964765 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.964765 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.964765 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174301.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.964765 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.964765 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.342531 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.342531 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.342531 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174302.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.342531 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.342531 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.342531 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.342531 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.342531 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174303.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 0.85 12.79 4.06 4.07 0 24834.17 03:13:38 m : DepthEnvelope -- Measured altitude 7.478259 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.478259 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.478259 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.478259 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.478259 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174304.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.478259 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.478259 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.652933 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.652933 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.652933 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174305.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.652933 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.55 0.72 12.10 3.98 4.09 0 9974.37 03:13:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.652933 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.652933 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.652933 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.935900 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174306.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.935900 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.935900 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.935900 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.935900 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.935900 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174307.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.935900 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.935900 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.68 1.29 13.47 4.06 4.08 0 16054.70 03:13:42 m : DepthEnvelope -- Measured altitude 8.127397 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.127397 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.127397 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174308.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.127397 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.127397 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.033333 : DepthEnvelope -- Measured altitude 8.127397 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.127397 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.263873 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174309.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.263873 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.263873 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.263873 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.263873 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.263873 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174310.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.263873 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.518611 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.518611 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.518611 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.518611 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174311.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.518611 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.518611 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.518611 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.518611 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.915038 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174312.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.915038 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.915038 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.915038 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.915038 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.915038 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174313.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 0.85 12.69 4.07 4.08 0 24834.11 03:13:48 m : DepthEnvelope -- Measured altitude 8.915038 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.010317 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.010317 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.010317 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.010317 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174314.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.010317 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.010317 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.010317 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.320830 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.320830 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174315.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.320830 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.55 0.68 12.10 3.98 4.09 0 9974.31 03:13:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.320830 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.320830 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.320830 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.320830 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174316.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.320830 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.550696 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.550696 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.550696 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.550696 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174317.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.550696 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.550696 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.71 1.21 13.37 4.06 4.08 0 16054.56 03:13:52 m : DepthEnvelope -- Measured altitude 9.550696 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.734707 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.734707 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174318.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.734707 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.734707 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : DepthEnvelope -- Measured altitude 9.734707 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.734707 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.734707 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174319.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 10.134581 over abort altitude 10.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174320.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174321.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174322.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174323.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 1.29 12.69 4.07 4.08 0 24834.01 03:13:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174324.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174325.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.47 1.99 12.10 3.97 4.08 0 9974.20 03:14:00 m : AshtechGps::processRecord() - $GPGGA,174326.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174327.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 3.73 13.37 4.05 4.08 0 16054.41 03:14:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174328.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.030000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174329.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174330.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174331.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174332.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174333.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.93 12.69 4.06 4.07 0 24833.79 03:14:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174334.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174335.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.39 3.07 12.10 3.97 4.08 0 9974.01 03:14:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174336.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174337.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.56 4.09 13.28 4.05 4.08 0 16053.95 03:14:12 m : AshtechGps::processRecord() - $GPGGA,174338.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174339.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174340.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174341.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174342.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174343.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 4.04 12.69 4.06 4.07 0 24833.37 03:14:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174344.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174345.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.39 3.29 12.10 3.95 4.07 0 9973.70 03:14:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174346.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174347.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.56 4.02 13.28 4.04 4.07 0 16053.60 03:14:22 m : AshtechGps::processRecord() - $GPGGA,174348.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174349.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174350.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174351.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.68 speedMode=1 speed=1.50 : Waypoint has set the state to finished. : Waypoint (4074908.9, 599537.8), reached at t = 6376.79 (wplog) : Vehicle Position is error is (0.8, 0.0) : LayeredControl::execute() -- (t = 6376.793160) Behavior waypoint_yoyo:1059224 has changed to state Finished : LayeredControl - sending BehaviorFinished:1059224 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,174352.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : *** Stack empty after processing. Waiting on VCS... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174353.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 3.78 12.79 4.05 4.06 0 24833.09 03:14:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174354.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174355.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.39 2.46 12.10 3.95 4.07 0 9973.50 03:14:30 m : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174356.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion waypoint_yoyo after pos 2 : DynoLayeredControl::insert - stack now contains 23 behaviors : Waypoint Initialization: Begin waypoint control at t= 6381.73 (wplog) The current location (N,E) = 4074908.2 , 599533.8 (wplog) The next waypoint = 4078791.9 , 599491.8 (wplog) The bearing to the next w.p. is 359.4 Degrees. : LayeredControl::execute() -- (t = 6381.742821) Behavior waypoint_yoyo:1108700 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:1108700 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174357.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.56 3.70 13.37 4.04 4.07 0 16053.10 03:14:32 m : AshtechGps::processRecord() - $GPGGA,174358.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.013333 : AshtechGps::processRecord() - $GPGGA,174359.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174400.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174401.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174402.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174403.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 3.07 12.69 4.05 4.06 0 24832.73 03:14:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174404.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174405.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.43 2.06 12.10 3.96 4.08 0 9973.23 03:14:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174406.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174407.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 3.37 13.28 4.04 4.07 0 16052.84 03:14:42 m : AshtechGps::processRecord() - $GPGGA,174408.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,174409.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174410.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174411.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174412.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174413.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.07 12.79 4.05 4.07 0 24832.52 03:14:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174414.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174415.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.39 2.60 12.10 3.96 4.08 0 9973.05 03:14:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174416.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174417.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.80 13.28 4.04 4.07 0 16052.45 03:14:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174418.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,174419.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174420.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174421.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174422.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion FireTheGulperAMC after pos 2 : BluefinBatt Reply: $aaq0 d- 32.40 3.19 12.69 4.05 4.07 0 24832.19 03:14:58 m : DynoLayeredControl::insert - stack now contains 24 behaviors : The FireTheGulperAMC Behavior has executed. FIRING THE GULPER NOW. : LayeredControl::execute() -- (t = 6407.951025) Behavior FireTheGulperAMC:1116958 has changed to state Active : LayeredControl - FireTheGulperAMC BehaviorStarted:1116958 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,174423.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : Gulper::fireGulper - cmd is $041Fff : AshtechGps::processRecord() - $GPGGA,174424.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl::execute() -- (t = 6409.600912) Behavior FireTheGulperAMC:1116958 has changed to state Finished : LayeredControl - sending BehaviorFinished:1116958 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174425.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.39 2.50 12.10 3.96 4.07 0 9972.77 03:15:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174426.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion FireTheGulperAMC after pos 2 : DynoLayeredControl::insert - stack now contains 25 behaviors : The FireTheGulperAMC Behavior has executed. FIRING THE GULPER NOW. : LayeredControl::execute() -- (t = 6411.950751) Behavior FireTheGulperAMC:1116927 has changed to state Active : LayeredControl - FireTheGulperAMC BehaviorStarted:1116927 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,174427.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 4.02 13.37 4.04 4.07 0 16052.16 03:15:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : Gulper::fireGulper - cmd is $051Fff : AshtechGps::processRecord() - $GPGGA,174428.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : LayeredControl::execute() -- (t = 6413.600638) Behavior FireTheGulperAMC:1116927 has changed to state Finished : LayeredControl - sending BehaviorFinished:1116927 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,174429.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174430.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174431.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174432.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174433.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.04 12.79 4.05 4.06 0 24831.96 03:15:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174434.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174435.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.43 2.35 12.10 3.96 4.07 0 9972.58 03:15:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.990385 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.990385 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174436.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.990385 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.990385 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.990385 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.990385 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.990385 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174437.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.615596 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.615596 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.56 3.84 13.37 4.04 4.07 0 16051.74 03:15:12 m : DepthEnvelope -- Measured altitude 9.615596 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.615596 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.615596 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174438.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.615596 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.615596 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : DepthEnvelope -- Measured altitude 9.440458 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.440458 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.440458 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174439.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.440458 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.440458 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.440458 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.440458 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.440458 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174440.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.905687 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.905687 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.905687 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.905687 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.905687 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174441.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.905687 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.905687 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.083310 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.083310 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.083310 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174442.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.083310 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.083310 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.083310 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.083310 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.167000 under allowable altitude 10.000000. Stopping! : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,174443.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 0.85 12.69 4.05 4.06 0 24831.71 03:15:18 m : DepthEnvelope -- Measured altitude 7.167000 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.167000 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.167000 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.167000 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.167000 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174444.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.167000 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.167000 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.481676 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.481676 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.481676 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174445.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.481676 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.51 0.94 12.20 3.98 4.09 0 9972.44 03:15:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.481676 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.481676 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.481676 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.161142 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174446.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.161142 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.161142 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.161142 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.161142 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.161142 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174447.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.161142 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.015609 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.64 1.57 13.37 4.05 4.08 0 16051.63 03:15:22 m : DepthEnvelope -- Measured altitude 6.015609 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.015609 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.015609 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174448.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.015609 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.015609 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.026667 : DepthEnvelope -- Measured altitude 6.015609 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.015609 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.066368 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174449.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.066368 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.066368 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.066368 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.066368 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.066368 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174450.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.066368 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.274977 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.274977 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.274977 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.274977 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174451.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.274977 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.274977 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.274977 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.274977 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.373995 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174452.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.373995 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.373995 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.373995 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.373995 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.373995 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174453.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 0.89 12.79 4.06 4.08 0 24831.60 03:15:28 m : DepthEnvelope -- Measured altitude 6.373995 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.574932 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.574932 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.574932 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.574932 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174454.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.574932 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.574932 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.574932 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.814279 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.814279 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174455.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.814279 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.55 0.68 12.10 3.98 4.09 0 9972.39 03:15:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.814279 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.814279 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.814279 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.814279 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174456.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.814279 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.868170 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.868170 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.868170 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.868170 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174457.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.868170 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.868170 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.68 1.29 13.47 4.05 4.08 0 16051.49 03:15:32 m : DepthEnvelope -- Measured altitude 6.868170 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.090720 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.090720 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174458.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.090720 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.090720 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.030000 : DepthEnvelope -- Measured altitude 7.090720 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.090720 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.090720 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174459.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.220091 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.220091 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.220091 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.220091 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.220091 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174500.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.220091 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.220091 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.220091 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.367473 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.367473 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174501.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.367473 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.367473 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.367473 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.367473 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.367473 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174502.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.492015 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.492015 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.492015 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.492015 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.492015 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174503.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 1.48 12.79 4.06 4.08 0 24831.47 03:15:38 m : DepthEnvelope -- Measured altitude 7.492015 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.492015 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.904155 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.904155 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.904155 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174504.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.904155 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.904155 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.904155 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.904155 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.904155 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174505.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.979939 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.55 0.68 12.10 3.98 4.09 0 9972.31 03:15:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.979939 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.979939 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.979939 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.979939 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174506.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.979939 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.979939 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.956636 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.956636 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.956636 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174507.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.956636 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.956636 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.64 1.79 13.37 4.06 4.08 0 16051.39 03:15:42 m : DepthEnvelope -- Measured altitude 7.956636 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.956636 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.963765 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174508.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.963765 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.963765 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.033333 : DepthEnvelope -- Measured altitude 7.963765 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.963765 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.963765 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174509.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.963765 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.963765 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.040174 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.040174 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.040174 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174510.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.040174 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.040174 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.040174 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.040174 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.059371 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174511.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.059371 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.059371 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.059371 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.059371 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.059371 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174512.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.059371 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.244594 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.244594 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.244594 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.244594 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174513.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 0.96 12.69 4.07 4.08 0 24831.39 03:15:48 m : DepthEnvelope -- Measured altitude 8.244594 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.244594 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.244594 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.244594 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.211522 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174514.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.211522 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.211522 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.211522 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.211522 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.211522 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174515.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.211522 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.55 0.72 12.10 3.98 4.09 0 9972.26 03:15:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.295840 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.295840 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.295840 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.295840 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174516.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.295840 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.295840 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.295840 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.537174 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.537174 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174517.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.537174 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.537174 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.68 1.21 13.37 4.06 4.08 0 16051.25 03:15:52 m : DepthEnvelope -- Measured altitude 8.537174 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.537174 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.537174 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174518.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.537174 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.575219 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : DepthEnvelope -- Measured altitude 8.575219 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.575219 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.575219 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174519.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.575219 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.575219 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.575219 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.873686 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.873686 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174520.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.873686 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.873686 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.873686 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.873686 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.873686 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174521.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.041485 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.041485 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.041485 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.041485 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.041485 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174522.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.041485 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.041485 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.041485 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.256751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.256751 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174523.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 0.92 12.79 4.07 4.08 0 24831.30 03:15:58 m : DepthEnvelope -- Measured altitude 9.256751 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.256751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.256751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.256751 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.256751 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174524.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.434693 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.434693 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.434693 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.434693 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.434693 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174525.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.434693 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.55 0.68 12.10 3.98 4.09 0 9972.18 03:16:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.434693 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.434693 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.728635 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.728635 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174526.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.728635 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.728635 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.728635 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.728635 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.728635 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174527.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.870720 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.870720 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.68 1.29 13.37 4.06 4.08 0 16051.15 03:16:02 m : DepthEnvelope -- Measured altitude 9.870720 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.870720 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.870720 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174528.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.870720 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.870720 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : DepthEnvelope -- Measured altitude 9.975043 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.975043 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.975043 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174529.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.975043 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.975043 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.975043 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.975043 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.975043 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174530.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 10.293136 over abort altitude 10.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174531.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174532.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174533.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 0.89 12.69 4.07 4.08 0 24831.23 03:16:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174534.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174535.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 1.73 12.10 3.98 4.09 0 9972.14 03:16:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174536.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174537.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 3.48 13.37 4.06 4.08 0 16050.94 03:16:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174538.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.036667 : AshtechGps::processRecord() - $GPGGA,174539.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174540.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174541.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174542.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174543.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 3.89 12.69 4.07 4.08 0 24830.97 03:16:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174544.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174545.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.43 2.64 12.10 3.96 4.07 0 9971.86 03:16:20 m : AshtechGps::processRecord() - $GPGGA,174546.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174547.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 4.52 13.37 4.04 4.07 0 16050.64 03:16:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174548.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.023334 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174549.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174550.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174551.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174552.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174553.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.26 12.59 4.05 4.07 0 24830.74 03:16:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174554.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174555.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.43 2.21 12.10 3.96 4.07 0 9971.68 03:16:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174556.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174557.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.60 3.70 13.28 4.04 4.07 0 16050.22 03:16:32 m : AshtechGps::processRecord() - $GPGGA,174558.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174559.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174600.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174601.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174602.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174603.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 2.96 12.69 4.05 4.07 0 24830.41 03:16:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174604.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174605.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.43 2.10 12.10 3.96 4.07 0 9971.41 03:16:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174606.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174607.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 4.52 13.28 4.04 4.07 0 16049.95 03:16:42 m : AshtechGps::processRecord() - $GPGGA,174608.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174609.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174610.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174611.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174612.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174613.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 2.59 12.59 4.05 4.07 0 24830.20 03:16:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174614.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174615.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.43 2.02 12.10 3.96 4.07 0 9971.25 03:16:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174616.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174617.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.56 3.34 13.28 4.04 4.07 0 16049.57 03:16:52 m : AshtechGps::processRecord() - $GPGGA,174618.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,174619.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174620.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174621.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174622.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174623.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 2.67 12.59 4.05 4.07 0 24829.90 03:16:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174624.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174625.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.43 2.02 12.10 3.96 4.07 0 9971.00 03:17:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174626.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174627.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.56 3.41 13.28 4.04 4.07 0 16049.32 03:17:02 m : AshtechGps::processRecord() - $GPGGA,174628.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,174629.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174630.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174631.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174632.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174633.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 2.70 12.69 4.05 4.07 0 24829.70 03:17:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174634.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174635.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.43 2.10 12.10 3.96 4.07 0 9970.84 03:17:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174636.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174637.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.60 3.52 13.28 4.04 4.07 0 16048.94 03:17:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174638.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,174639.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174640.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174641.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174642.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174643.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 2.67 12.59 4.05 4.07 0 24829.41 03:17:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174644.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174645.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.43 1.99 12.10 3.96 4.08 0 9970.58 03:17:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174646.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174647.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.55 13.18 4.04 4.07 0 16048.71 03:17:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174648.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,174649.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174650.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174651.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174652.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174653.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 2.78 12.59 4.05 4.07 0 24829.20 03:17:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174654.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174655.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.43 1.99 12.10 3.96 4.08 0 9970.43 03:17:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174656.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174657.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.84 13.18 4.04 4.07 0 16048.33 03:17:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174658.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174659.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174700.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174701.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174702.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174703.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 2.70 12.50 4.05 4.07 0 24828.91 03:17:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174704.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174705.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.43 2.06 12.01 3.96 4.07 0 9970.16 03:17:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174706.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174707.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.56 3.34 13.18 4.04 4.07 0 16048.06 03:17:42 m : AshtechGps::processRecord() - $GPGGA,174708.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174709.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174710.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174711.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174712.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174713.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 2.74 12.50 4.05 4.07 0 24828.69 03:17:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174714.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174715.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.43 2.02 12.10 3.96 4.07 0 9969.99 03:17:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174716.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174717.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.66 13.18 4.04 4.07 0 16047.68 03:17:52 m : AshtechGps::processRecord() - $GPGGA,174718.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174719.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174720.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174721.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174722.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174723.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.48 12.59 4.05 4.07 0 24828.38 03:17:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174724.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174725.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.43 2.13 12.01 3.96 4.08 0 9969.71 03:18:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174726.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174727.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.56 3.55 13.18 4.04 4.07 0 16047.43 03:18:02 m : AshtechGps::processRecord() - $GPGGA,174728.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,174729.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174730.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174731.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,174732.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174733.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.26 12.50 4.05 4.07 0 24828.18 03:18:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174734.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174735.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.43 2.06 12.01 3.96 4.08 0 9969.54 03:18:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174736.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174737.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.55 13.18 4.04 4.07 0 16047.05 03:18:12 m : AshtechGps::processRecord() - $GPGGA,174738.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,174739.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174740.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174741.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174742.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174743.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 2.92 12.50 4.05 4.07 0 24827.86 03:18:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174744.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174745.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.43 2.35 12.01 3.96 4.07 0 9969.29 03:18:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174746.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174747.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.70 13.18 4.04 4.07 0 16046.79 03:18:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174748.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,174749.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174750.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174751.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174752.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174753.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 3.11 12.50 4.05 4.06 0 24827.64 03:18:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174754.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174755.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.43 2.13 12.01 3.96 4.07 0 9969.10 03:18:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174756.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174757.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.91 13.18 4.04 4.07 0 16046.34 03:18:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174758.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,174759.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174800.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174801.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174802.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174803.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 4.23 12.59 4.05 4.06 0 24827.31 03:18:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174804.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174805.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.39 2.28 12.01 3.96 4.07 0 9968.84 03:18:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174806.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.62 13.18 4.04 4.07 0 16046.04 03:18:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174808.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174809.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174810.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174811.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174812.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174813.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 3.11 12.50 4.05 4.06 0 24827.08 03:18:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174814.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174815.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.39 2.35 11.91 3.96 4.07 0 9968.66 03:18:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174816.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174817.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.53 3.66 13.28 4.04 4.07 0 16045.64 03:18:52 m : AshtechGps::processRecord() - $GPGGA,174818.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174819.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174820.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174821.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174822.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174823.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 3.04 12.59 4.05 4.06 0 24826.76 03:18:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174824.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174825.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.39 2.46 12.01 3.96 4.07 0 9968.35 03:19:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174826.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174827.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.70 13.28 4.04 4.07 0 16045.36 03:19:02 m : AshtechGps::processRecord() - $GPGGA,174828.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174829.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174830.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174831.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174832.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174833.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 2.82 12.50 4.05 4.06 0 24826.55 03:19:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174834.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174835.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.39 2.28 12.01 3.96 4.07 0 9968.18 03:19:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174836.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174837.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.48 13.28 4.04 4.07 0 16044.94 03:19:12 m : AshtechGps::processRecord() - $GPGGA,174838.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,174839.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174840.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174841.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174842.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174843.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 3.07 12.59 4.05 4.06 0 24826.23 03:19:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174844.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174845.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.39 2.28 12.01 3.96 4.07 0 9967.91 03:19:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174846.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174847.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.88 13.28 4.04 4.07 0 16044.67 03:19:22 m : AshtechGps::processRecord() - $GPGGA,174848.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,174849.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174850.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174851.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174852.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174853.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 2.92 12.59 4.05 4.06 0 24826.02 03:19:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174854.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174855.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.39 2.21 12.01 3.96 4.07 0 9967.72 03:19:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174856.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174857.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.66 13.28 4.04 4.07 0 16044.26 03:19:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174858.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,174859.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174900.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174901.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174902.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174903.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 2.85 12.69 4.05 4.06 0 24825.69 03:19:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174904.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174905.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.46 11.91 3.95 4.07 0 9967.45 03:19:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174906.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174907.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.80 13.28 4.04 4.07 0 16043.99 03:19:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174908.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.013333 : AshtechGps::processRecord() - $GPGGA,174909.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174910.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174911.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174912.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174913.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 3.07 12.59 4.05 4.06 0 24825.47 03:19:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174914.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174915.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.39 2.39 12.01 3.95 4.07 0 9967.28 03:19:50 m : AshtechGps::processRecord() - $GPGGA,174916.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174917.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.55 13.28 4.04 4.07 0 16043.59 03:19:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174918.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.013333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174919.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174920.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174921.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174922.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174923.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.00 12.69 4.05 4.06 0 24825.15 03:19:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174924.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174925.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.39 2.31 12.01 3.96 4.07 0 9967.01 03:20:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174926.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174927.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.53 3.62 13.28 4.04 4.07 0 16043.32 03:20:02 m : AshtechGps::processRecord() - $GPGGA,174928.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174929.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174930.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174931.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174932.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174933.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 3.00 12.59 4.05 4.06 0 24824.94 03:20:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174934.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174935.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.39 2.24 12.01 3.96 4.07 0 9966.83 03:20:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174936.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174937.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.52 13.28 4.04 4.07 0 16042.92 03:20:12 m : AshtechGps::processRecord() - $GPGGA,174938.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174939.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174940.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174941.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174942.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174943.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 3.33 12.59 4.05 4.06 0 24824.63 03:20:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174944.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174945.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.39 2.35 12.01 3.96 4.07 0 9966.56 03:20:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174946.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,174947.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.62 13.28 4.04 4.07 0 16042.66 03:20:22 m : AshtechGps::processRecord() - $GPGGA,174948.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.643546 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.643546 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.643546 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.643546 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174949.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.643546 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.643546 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.643546 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.840022 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.840022 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174950.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.840022 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.840022 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.840022 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.840022 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.840022 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174951.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.840022 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.437430 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.437430 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.437430 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.437430 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174952.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.437430 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.437430 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.437430 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.944513 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.944513 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174953.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 1.22 12.59 4.05 4.06 0 24824.42 03:20:28 m : DepthEnvelope -- Measured altitude 7.944513 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.944513 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.944513 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.944513 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.944513 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174954.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.147506 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.147506 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.147506 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.147506 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.147506 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174955.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.147506 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.47 0.72 12.01 3.96 4.07 0 9966.45 03:20:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.147506 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.147506 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.565839 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.565839 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174956.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.565839 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.565839 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.565839 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.565839 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.565839 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174957.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.868726 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.868726 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.64 1.50 13.28 4.04 4.07 0 16042.44 03:20:32 m : DepthEnvelope -- Measured altitude 5.868726 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.868726 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.868726 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174958.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.868726 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.868726 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : DepthEnvelope -- Measured altitude 5.610242 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.610242 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.610242 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174959.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.610242 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.610242 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.610242 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.610242 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.610242 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175000.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.484722 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.484722 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.484722 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.484722 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.484722 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175001.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.484722 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.484722 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.619757 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.619757 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.619757 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175002.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.619757 under allowable altitude 10.000000. Stopping! : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.619757 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.619757 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.619757 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.794234 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175003.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 1.22 12.69 4.05 4.06 0 24824.30 03:20:38 m : DepthEnvelope -- Measured altitude 5.794234 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.794234 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.794234 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.794234 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.794234 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175004.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.794234 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.794234 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.044352 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.044352 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.044352 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175005.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.044352 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.47 0.97 12.01 3.97 4.08 0 9966.37 03:20:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.044352 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.044352 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.044352 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.452209 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175006.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.452209 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.452209 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.452209 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.452209 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.452209 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175007.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.452209 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.660540 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.64 1.29 13.28 4.05 4.08 0 16042.35 03:20:42 m : DepthEnvelope -- Measured altitude 6.660540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.660540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.660540 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175008.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.660540 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.660540 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.023334 : DepthEnvelope -- Measured altitude 6.660540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.660540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.734866 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175009.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.734866 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.734866 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.734866 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.734866 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.734866 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175010.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.734866 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.973991 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.973991 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.973991 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.973991 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175011.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.973991 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.973991 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.973991 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.253318 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.253318 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175012.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.253318 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.253318 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.253318 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.253318 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.253318 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175013.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 1.03 12.69 4.06 4.07 0 24824.20 03:20:48 m : DepthEnvelope -- Measured altitude 7.253318 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.502862 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.502862 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.502862 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.502862 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175014.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.502862 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.502862 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.502862 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.615818 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.615818 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175015.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.615818 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.51 0.72 12.01 3.97 4.08 0 9966.31 03:20:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.615818 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.615818 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.615818 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.615818 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175016.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.840567 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.840567 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.840567 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.840567 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.840567 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175017.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.840567 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.840567 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.64 1.68 13.28 4.05 4.08 0 16042.19 03:20:52 m : DepthEnvelope -- Measured altitude 7.840567 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.970878 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.970878 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175018.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.970878 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.970878 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : DepthEnvelope -- Measured altitude 7.970878 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.970878 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.970878 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175019.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.030028 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.030028 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.030028 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.030028 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.030028 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175020.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.030028 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.030028 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.030028 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.089904 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.089904 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175021.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.089904 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.089904 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.089904 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.089904 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.089904 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175022.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.039337 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.039337 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.039337 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.039337 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.039337 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175023.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 1.03 12.59 4.06 4.07 0 24824.06 03:20:58 m : DepthEnvelope -- Measured altitude 8.039337 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.039337 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.926542 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.926542 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.926542 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175024.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.926542 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.926542 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.926542 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.926542 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.926542 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175025.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.829379 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.51 0.75 12.01 3.97 4.08 0 9966.23 03:21:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.829379 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.829379 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.829379 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.829379 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175026.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.829379 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.829379 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.979516 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.979516 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.979516 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175027.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.979516 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.979516 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.64 1.25 13.28 4.05 4.08 0 16042.10 03:21:02 m : DepthEnvelope -- Measured altitude 7.979516 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.979516 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.977786 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175028.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.977786 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.977786 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : DepthEnvelope -- Measured altitude 7.977786 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.977786 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.977786 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175029.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.977786 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.977786 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.066179 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.066179 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.066179 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175030.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.066179 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.066179 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.066179 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.066179 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.266482 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175031.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.266482 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.266482 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.266482 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.266482 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.266482 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175032.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.266482 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.430672 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.430672 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.430672 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.430672 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175033.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 1.14 12.69 4.06 4.07 0 24824.00 03:21:08 m : DepthEnvelope -- Measured altitude 8.430672 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.430672 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.430672 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.430672 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.699443 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175034.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.699443 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.699443 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.699443 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.699443 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.699443 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175035.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.699443 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.51 0.75 12.01 3.97 4.08 0 9966.18 03:21:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.979257 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.979257 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.979257 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.979257 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175036.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.979257 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.979257 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.979257 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.266761 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.266761 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175037.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.266761 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.266761 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.64 1.29 13.28 4.05 4.08 0 16041.96 03:21:12 m : DepthEnvelope -- Measured altitude 9.266761 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.266761 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.266761 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175038.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.266761 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.359090 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : DepthEnvelope -- Measured altitude 9.359090 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.359090 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.359090 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175039.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.359090 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.359090 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.359090 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.636005 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.636005 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175040.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.636005 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.636005 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.636005 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.636005 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.636005 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175041.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.636005 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.671534 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.671534 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.671534 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.671534 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175042.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.671534 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.671534 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.671534 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.898193 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.898193 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175043.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 0.89 12.59 4.06 4.07 0 24823.90 03:21:18 m : DepthEnvelope -- Measured altitude 9.898193 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.898193 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.898193 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.898193 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.898193 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175044.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 10.026321 over abort altitude 10.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175045.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.51 0.72 12.01 3.98 4.08 0 9966.10 03:21:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175046.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175047.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.64 1.54 13.28 4.05 4.08 0 16041.87 03:21:22 m : AshtechGps::processRecord() - $GPGGA,175048.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.030000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175049.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175050.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175051.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175052.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175053.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 3.30 12.50 4.06 4.08 0 24823.78 03:21:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175054.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175055.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.93 11.91 3.98 4.08 0 9965.95 03:21:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175056.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175057.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 4.42 13.18 4.05 4.08 0 16041.48 03:21:32 m : AshtechGps::processRecord() - $GPGGA,175058.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.980000, mean min cell voltage 4.030000 : AshtechGps::processRecord() - $GPGGA,175059.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175100.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175101.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175102.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175103.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 4.37 12.59 4.06 4.08 0 24823.39 03:21:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175104.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175105.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.67 11.91 3.96 4.07 0 9965.65 03:21:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175106.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175107.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.88 13.18 4.04 4.07 0 16041.20 03:21:42 m : AshtechGps::processRecord() - $GPGGA,175108.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.020000 : AshtechGps::processRecord() - $GPGGA,175109.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175110.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175111.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175112.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175113.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 2.92 12.59 4.05 4.06 0 24823.15 03:21:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175114.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175115.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.39 2.28 12.01 3.96 4.07 0 9965.49 03:21:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175116.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175117.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.88 13.18 4.04 4.07 0 16040.84 03:21:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175118.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,175119.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175120.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175121.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175122.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175123.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 3.00 12.50 4.05 4.06 0 24822.81 03:21:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175124.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175125.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.39 2.13 12.01 3.96 4.07 0 9965.25 03:22:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175126.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175127.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.84 13.18 4.04 4.07 0 16040.61 03:22:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175128.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,175129.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175130.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175131.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175132.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175133.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 2.74 12.50 4.05 4.06 0 24822.58 03:22:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175134.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175135.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.39 2.31 11.91 3.96 4.07 0 9965.09 03:22:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175136.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175137.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.19 13.18 4.04 4.07 0 16040.25 03:22:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175138.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175139.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175140.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175141.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175142.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175143.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 2.89 12.50 4.05 4.06 0 24822.25 03:22:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175144.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175145.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.39 2.39 12.01 3.96 4.08 0 9964.84 03:22:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175146.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175147.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.53 3.30 13.18 4.04 4.07 0 16040.02 03:22:22 m : AshtechGps::processRecord() - $GPGGA,175148.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175149.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175150.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175151.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175152.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175153.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 2.78 12.59 4.05 4.06 0 24822.04 03:22:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175154.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175155.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.39 2.39 12.01 3.96 4.08 0 9964.68 03:22:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175156.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175157.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.12 13.18 4.04 4.07 0 16039.68 03:22:32 m : AshtechGps::processRecord() - $GPGGA,175158.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175159.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175200.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175201.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175202.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175203.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 2.70 12.50 4.05 4.06 0 24821.71 03:22:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175204.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175205.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.39 2.35 12.01 3.96 4.07 0 9964.40 03:22:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175206.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175207.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.08 13.18 4.04 4.07 0 16039.44 03:22:42 m : AshtechGps::processRecord() - $GPGGA,175208.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,175209.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175210.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175211.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175212.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175213.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 3.11 12.59 4.05 4.06 0 24821.50 03:22:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175214.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175215.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.39 2.35 12.01 3.96 4.07 0 9964.25 03:22:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175216.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175217.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.44 13.08 4.04 4.07 0 16039.07 03:22:52 m : AshtechGps::processRecord() - $GPGGA,175218.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,175219.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175220.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175221.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175222.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175223.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 2.92 12.50 4.05 4.06 0 24821.17 03:22:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175224.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175225.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.39 2.21 11.91 3.96 4.07 0 9964.00 03:23:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175226.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175227.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.26 13.08 4.04 4.07 0 16038.84 03:23:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175228.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,175229.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175230.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175231.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175232.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175233.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 2.85 12.59 4.05 4.06 0 24820.88 03:23:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175234.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175235.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.39 2.28 12.01 3.96 4.07 0 9963.82 03:23:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175236.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175237.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.44 13.08 4.04 4.07 0 16038.49 03:23:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175238.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,175239.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175240.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175241.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175242.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,175243.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 3.15 12.50 4.05 4.06 0 24820.54 03:23:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175244.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175245.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.39 2.17 12.01 3.96 4.07 0 9963.57 03:23:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175246.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175247.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.59 13.08 4.04 4.07 0 16038.24 03:23:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175248.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175249.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175250.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175251.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175252.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175253.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 4.78 12.50 4.05 4.06 0 24820.32 03:23:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175254.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175255.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.57 11.91 3.96 4.07 0 9963.40 03:23:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175256.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175257.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.53 3.73 13.08 4.04 4.07 0 16037.87 03:23:32 m : AshtechGps::processRecord() - $GPGGA,175258.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175259.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175300.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175301.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175302.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175303.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.33 12.50 4.05 4.06 0 24819.97 03:23:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175304.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175305.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.35 2.50 12.01 3.96 4.07 0 9963.13 03:23:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175306.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175307.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 4.16 13.08 4.04 4.07 0 16037.62 03:23:42 m : AshtechGps::processRecord() - $GPGGA,175308.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175309.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175310.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175311.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175312.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175313.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 3.30 12.50 4.05 4.06 0 24819.70 03:23:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175314.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175315.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.39 2.46 11.91 3.96 4.07 0 9962.96 03:23:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175316.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175317.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 4.52 13.18 4.04 4.07 0 16037.25 03:23:52 m : AshtechGps::processRecord() - $GPGGA,175318.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,175319.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175320.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175321.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175322.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175323.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.93 12.50 4.05 4.06 0 24819.34 03:23:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175324.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175325.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.53 11.91 3.95 4.07 0 9962.70 03:24:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175326.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175327.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.62 13.18 4.03 4.07 0 16037.00 03:24:02 m : AshtechGps::processRecord() - $GPGGA,175328.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.010000 : AshtechGps::processRecord() - $GPGGA,175329.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175330.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175331.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175332.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175333.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 3.07 12.59 4.05 4.06 0 24819.09 03:24:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175334.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175335.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.35 2.42 11.91 3.95 4.07 0 9962.52 03:24:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175336.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175337.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.66 13.18 4.03 4.07 0 16036.63 03:24:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175338.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.010000 : AshtechGps::processRecord() - $GPGGA,175339.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175340.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175341.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175342.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175343.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 3.04 12.59 4.05 4.06 0 24818.75 03:24:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175344.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175345.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.35 2.60 11.91 3.96 4.07 0 9962.25 03:24:20 m : AshtechGps::processRecord() - $GPGGA,175346.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175347.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.52 13.18 4.04 4.07 0 16036.38 03:24:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175348.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,175349.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175350.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175351.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175352.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175353.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 3.00 12.59 4.05 4.06 0 24818.50 03:24:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175354.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175355.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.42 11.91 3.96 4.07 0 9962.06 03:24:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175356.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175357.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.70 13.18 4.04 4.07 0 16035.96 03:24:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175358.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175359.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175400.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175401.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175402.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175403.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 3.26 12.59 4.05 4.06 0 24818.13 03:24:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175404.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175405.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.57 11.91 3.96 4.07 0 9961.80 03:24:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175406.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175407.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.49 3.62 13.18 4.04 4.07 0 16035.68 03:24:42 m : AshtechGps::processRecord() - $GPGGA,175408.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175409.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175410.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175411.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175412.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175413.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.37 12.59 4.05 4.06 0 24817.89 03:24:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175414.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175415.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.42 11.91 3.96 4.07 0 9961.62 03:24:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175416.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175417.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.52 13.28 4.04 4.07 0 16035.30 03:24:52 m : AshtechGps::processRecord() - $GPGGA,175418.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175419.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175420.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175421.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175422.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175423.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 2.89 12.59 4.05 4.06 0 24817.53 03:24:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175424.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175425.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.42 11.91 3.96 4.07 0 9961.33 03:25:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175426.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175427.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.55 13.18 4.04 4.07 0 16035.06 03:25:02 m : AshtechGps::processRecord() - $GPGGA,175428.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,175429.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175430.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175431.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175432.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175433.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 3.19 12.59 4.04 4.06 0 24817.31 03:25:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175434.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175435.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.60 11.91 3.96 4.07 0 9961.13 03:25:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175436.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175437.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.77 13.28 4.04 4.07 0 16034.67 03:25:12 m : AshtechGps::processRecord() - $GPGGA,175438.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.013333 : AshtechGps::processRecord() - $GPGGA,175439.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175440.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175441.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175442.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175443.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.44 12.59 4.04 4.06 0 24816.96 03:25:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175444.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175445.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.35 2.35 11.91 3.96 4.07 0 9960.88 03:25:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175446.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175447.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.52 13.18 4.04 4.07 0 16034.42 03:25:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175448.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.013333 : AshtechGps::processRecord() - $GPGGA,175449.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175450.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175451.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175452.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175453.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.11 12.50 4.05 4.06 0 24816.73 03:25:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175454.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175455.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.53 11.91 3.96 4.07 0 9960.71 03:25:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175456.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175457.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.73 13.28 4.04 4.07 0 16034.06 03:25:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : DepthEnvelope -- Measured altitude 9.573898 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175458.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.573898 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.573898 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : DepthEnvelope -- Measured altitude 9.573898 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.573898 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.573898 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175459.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.573898 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.788491 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.788491 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.788491 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.788491 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175500.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.788491 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.788491 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.788491 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.788491 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.376702 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175501.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.376702 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.376702 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.376702 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.376702 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.376702 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175502.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.376702 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.879477 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.879477 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.879477 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.879477 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175503.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 1.29 12.59 4.05 4.06 0 24816.39 03:25:38 m : DepthEnvelope -- Measured altitude 7.879477 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.879477 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.879477 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.176801 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.176801 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175504.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.176801 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.176801 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.176801 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.176801 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.176801 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175505.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.176801 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.47 0.75 11.91 3.97 4.08 0 9960.51 03:25:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.465613 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.465613 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.465613 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.465613 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175506.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.465613 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.465613 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.465613 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.715459 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.715459 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175507.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.715459 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.715459 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.64 1.32 13.28 4.05 4.08 0 16033.89 03:25:42 m : DepthEnvelope -- Measured altitude 5.715459 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.715459 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.715459 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175508.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.715459 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.365701 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.023334 : DepthEnvelope -- Measured altitude 5.365701 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.365701 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.365701 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175509.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.365701 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.365701 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.365701 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.146029 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.146029 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175510.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.146029 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.146029 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.146029 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.146029 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.146029 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175511.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.158888 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.158888 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.158888 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.158888 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.158888 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175512.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.158888 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.158888 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.158888 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.372114 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.372114 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175513.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 0.85 12.50 4.06 4.07 0 24816.32 03:25:48 m : DepthEnvelope -- Measured altitude 5.372114 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.372114 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.372114 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.372114 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.372114 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175514.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.549435 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.549435 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.549435 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.549435 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.549435 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175515.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.549435 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.47 1.01 11.91 3.97 4.08 0 9960.44 03:25:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.549435 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.777926 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.777926 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.777926 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175516.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.777926 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.777926 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.777926 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.777926 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.777926 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175517.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.055002 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.055002 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.60 1.54 13.28 4.05 4.08 0 16033.73 03:25:52 m : DepthEnvelope -- Measured altitude 6.055002 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.055002 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.055002 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175518.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.055002 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.055002 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : DepthEnvelope -- Measured altitude 6.195833 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.195833 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.195833 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175519.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.195833 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.195833 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.195833 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.195833 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.541228 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175520.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.541228 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.541228 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.541228 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.541228 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.541228 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175521.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.541228 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.541228 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.593619 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : Isus::select() timeout : DepthEnvelope -- Measured altitude 6.593619 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.593619 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175522.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.593619 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.593619 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.593619 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.593619 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.817302 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175523.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 1.22 12.59 4.06 4.07 0 24816.23 03:25:58 m : DepthEnvelope -- Measured altitude 6.817302 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.817302 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.817302 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.817302 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.817302 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175524.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.817302 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.996955 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.996955 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.996955 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.996955 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175525.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.996955 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.51 0.75 11.91 3.97 4.08 0 9960.33 03:26:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.996955 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.996955 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.996955 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.252226 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175526.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.252226 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.252226 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.252226 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.252226 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.252226 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175527.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.252226 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.250858 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.64 1.25 13.18 4.05 4.08 0 16033.60 03:26:02 m : DepthEnvelope -- Measured altitude 7.250858 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.250858 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.250858 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175528.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.250858 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.250858 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : DepthEnvelope -- Measured altitude 7.250858 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.250858 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.452065 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175529.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.452065 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.452065 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.452065 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.452065 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.452065 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175530.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.452065 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.410031 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.410031 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.410031 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.410031 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175531.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.410031 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.410031 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.410031 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.450780 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.450780 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175532.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.450780 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.450780 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.450780 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.450780 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.450780 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175533.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 1.07 12.59 4.06 4.07 0 24816.17 03:26:08 m : DepthEnvelope -- Measured altitude 7.450780 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.485912 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.485912 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.485912 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.485912 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175534.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.485912 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.485912 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.485912 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.516533 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.516533 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175535.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.516533 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.47 0.75 11.91 3.97 4.08 0 9960.25 03:26:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.516533 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.516533 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.516533 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.516533 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175536.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.515405 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.515405 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.515405 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.515405 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.515405 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175537.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.515405 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.515405 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.64 1.25 13.18 4.05 4.08 0 16033.44 03:26:12 m : DepthEnvelope -- Measured altitude 7.515405 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.661452 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.661452 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175538.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.661452 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.661452 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : DepthEnvelope -- Measured altitude 7.661452 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.661452 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.661452 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175539.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.648547 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.648547 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.648547 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.648547 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.648547 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175540.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.648547 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.648547 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.758164 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.758164 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.758164 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175541.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.758164 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.758164 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.758164 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.758164 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.758164 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175542.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.944675 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.944675 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.944675 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.944675 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.944675 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175543.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 0.89 12.59 4.06 4.07 0 24816.06 03:26:18 m : DepthEnvelope -- Measured altitude 7.944675 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.944675 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.074129 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.074129 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.074129 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175544.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.074129 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.074129 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.074129 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.074129 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.477355 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175545.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.477355 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.47 0.75 11.91 3.97 4.08 0 9960.17 03:26:20 m : DepthEnvelope -- Measured altitude 8.477355 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.477355 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.477355 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.477355 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175546.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.477355 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.477355 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.634882 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.634882 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.634882 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175547.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.634882 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.634882 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.64 1.47 13.18 4.05 4.08 0 16033.34 03:26:22 m : DepthEnvelope -- Measured altitude 8.634882 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.634882 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.002437 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175548.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.002437 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.002437 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : DepthEnvelope -- Measured altitude 9.002437 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.002437 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.002437 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175549.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.002437 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.138373 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.138373 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.138373 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.138373 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175550.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.138373 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.138373 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.138373 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.138373 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.364535 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175551.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.364535 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.364535 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.364535 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.364535 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.364535 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175552.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.364535 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.532699 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.532699 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.532699 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.532699 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175553.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.44 0.85 12.59 4.06 4.07 0 24816.00 03:26:28 m : DepthEnvelope -- Measured altitude 9.532699 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.532699 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.532699 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.537481 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.537481 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175554.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.537481 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.537481 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.537481 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.537481 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.537481 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175555.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.537481 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.47 0.75 11.91 3.97 4.08 0 9960.12 03:26:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.896704 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.896704 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.896704 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.896704 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175556.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.896704 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.896704 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.896704 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.967095 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.967095 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175557.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.967095 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.967095 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.60 1.47 13.18 4.05 4.08 0 16033.20 03:26:32 m : DepthEnvelope -- Measured altitude 9.967095 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.967095 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.967095 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175558.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.967095 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- altitude 10.164623 over abort altitude 10.000000, starting prop! : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,175559.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175600.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175601.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175602.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175603.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 1.96 12.59 4.06 4.07 0 24815.91 03:26:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175604.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175605.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.39 2.21 11.91 3.96 4.07 0 9959.98 03:26:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175606.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175607.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.73 13.08 4.04 4.07 0 16033.04 03:26:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175608.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.020000 : AshtechGps::processRecord() - $GPGGA,175609.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175610.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175611.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175612.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 32.32 3.97 12.50 4.05 4.06 0 24815.66 03:26:48 m : AshtechGps::processRecord() - $GPGGA,175613.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175614.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175615.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.89 11.91 3.96 4.07 0 9959.78 03:26:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175616.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175617.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.88 13.18 4.04 4.07 0 16032.60 03:26:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175618.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175619.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175620.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175621.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175622.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175623.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.22 12.59 4.05 4.06 0 24815.25 03:26:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175624.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175625.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.53 11.91 3.95 4.07 0 9959.49 03:27:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175626.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175627.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.49 3.70 13.18 4.04 4.07 0 16032.32 03:27:02 m : AshtechGps::processRecord() - $GPGGA,175628.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.013333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175629.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175630.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175631.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175632.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175633.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.00 12.50 4.04 4.06 0 24815.03 03:27:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175634.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175635.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.31 11.91 3.95 4.07 0 9959.32 03:27:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175636.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175637.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.16 13.08 4.04 4.07 0 16031.93 03:27:12 m : AshtechGps::processRecord() - $GPGGA,175638.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.010000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175639.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175640.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175641.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175642.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175643.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 3.07 12.59 4.04 4.06 0 24814.71 03:27:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175644.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175645.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.39 11.91 3.96 4.07 0 9959.08 03:27:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175646.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175647.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.34 13.18 4.04 4.07 0 16031.67 03:27:22 m : AshtechGps::processRecord() - $GPGGA,175648.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.013333 : AshtechGps::processRecord() - $GPGGA,175649.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175650.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175651.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175652.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175653.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 2.89 12.59 4.05 4.06 0 24814.49 03:27:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175654.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175655.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.50 11.91 3.96 4.07 0 9958.91 03:27:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175656.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175657.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.16 13.18 4.04 4.07 0 16031.29 03:27:32 m : AshtechGps::processRecord() - $GPGGA,175658.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,175659.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175700.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175701.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175702.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175703.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 2.96 12.50 4.05 4.06 0 24814.12 03:27:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175704.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175705.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.35 2.78 11.91 3.95 4.07 0 9958.63 03:27:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175706.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175707.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.48 13.08 4.03 4.06 0 16031.01 03:27:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175708.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.010000 : AshtechGps::processRecord() - $GPGGA,175709.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175710.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175711.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175712.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175713.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 2.89 12.59 4.04 4.06 0 24813.90 03:27:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175714.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175715.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 2.93 11.91 3.95 4.07 0 9958.47 03:27:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175716.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175717.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.19 13.08 4.03 4.06 0 16030.63 03:27:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175718.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,175719.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175720.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175721.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175722.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175723.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.04 12.50 4.04 4.06 0 24813.56 03:27:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175724.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175725.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.21 11.91 3.95 4.07 0 9958.21 03:28:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175726.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175727.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.30 13.08 4.03 4.07 0 16030.38 03:28:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175728.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175729.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175730.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175731.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175732.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175733.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.22 12.50 4.05 4.06 0 24813.32 03:28:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175734.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175735.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.42 11.91 3.95 4.07 0 9958.01 03:28:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175736.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175737.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.49 3.37 13.08 4.03 4.07 0 16030.01 03:28:12 m : AshtechGps::processRecord() - $GPGGA,175738.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.010000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175739.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175740.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175741.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175742.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175743.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.41 12.50 4.05 4.06 0 24812.97 03:28:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175744.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175745.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.39 2.28 11.91 3.95 4.07 0 9957.76 03:28:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175746.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175747.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 3.08 13.08 4.04 4.07 0 16029.76 03:28:22 m : AshtechGps::processRecord() - $GPGGA,175748.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.013333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175749.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175750.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175751.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175752.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,175753.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.22 12.50 4.05 4.06 0 24812.70 03:28:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175754.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175755.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.39 11.91 3.95 4.07 0 9957.58 03:28:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175756.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175757.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.26 13.08 4.04 4.07 0 16029.35 03:28:32 m : AshtechGps::processRecord() - $GPGGA,175758.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.013333 : AshtechGps::processRecord() - $GPGGA,175759.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175800.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175801.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175802.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175803.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.33 12.50 4.05 4.06 0 24812.30 03:28:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175804.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175805.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.46 11.91 3.95 4.07 0 9957.33 03:28:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175806.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175807.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.52 13.08 4.03 4.06 0 16029.09 03:28:42 m : AshtechGps::processRecord() - $GPGGA,175808.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.010000 : AshtechGps::processRecord() - $GPGGA,175809.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175810.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175811.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175812.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175813.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 3.52 12.50 4.04 4.06 0 24812.05 03:28:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175814.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175815.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.35 2.53 11.91 3.95 4.07 0 9957.14 03:28:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175816.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175817.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.55 13.08 4.03 4.06 0 16028.68 03:28:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175818.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,175819.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175820.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175821.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175822.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175823.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.59 12.40 4.04 4.06 0 24811.66 03:28:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175824.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175825.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.32 2.60 11.91 3.95 4.07 0 9956.87 03:29:00 m : AshtechGps::processRecord() - $GPGGA,175826.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175827.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.77 13.18 4.03 4.06 0 16028.41 03:29:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175828.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,175829.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175830.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175831.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175832.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175833.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.59 12.50 4.04 4.05 0 24811.37 03:29:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175834.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175835.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.57 11.91 3.95 4.07 0 9956.69 03:29:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175836.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175837.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.44 13.18 4.03 4.06 0 16028.00 03:29:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175838.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175839.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175840.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175841.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175842.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175843.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.26 12.50 4.04 4.05 0 24811.00 03:29:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175844.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175845.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.50 11.91 3.95 4.07 0 9956.44 03:29:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175846.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175847.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.49 3.30 13.18 4.03 4.06 0 16027.74 03:29:22 m : AshtechGps::processRecord() - $GPGGA,175848.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175849.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175850.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175851.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175852.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175853.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.48 12.50 4.04 4.05 0 24810.75 03:29:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175854.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175855.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.50 11.81 3.95 4.07 0 9956.22 03:29:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175856.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175857.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.70 13.18 4.03 4.06 0 16027.33 03:29:32 m : AshtechGps::processRecord() - $GPGGA,175858.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175859.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175900.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175901.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175902.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175903.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 3.26 12.59 4.04 4.05 0 24810.37 03:29:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175904.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175905.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.64 11.81 3.95 4.07 0 9955.96 03:29:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175906.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175907.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.44 13.18 4.03 4.06 0 16027.04 03:29:42 m : AshtechGps::processRecord() - $GPGGA,175908.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,175909.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175910.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175911.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175912.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175913.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 3.41 12.59 4.04 4.05 0 24810.14 03:29:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175914.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175915.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 2.93 11.81 3.95 4.07 0 9955.77 03:29:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175916.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175917.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.52 13.18 4.03 4.06 0 16026.64 03:29:52 m : AshtechGps::processRecord() - $GPGGA,175918.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,175919.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175920.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175921.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175922.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175923.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.37 12.50 4.04 4.05 0 24809.78 03:29:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175924.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175925.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.35 2.42 11.91 3.95 4.07 0 9955.51 03:30:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175926.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175927.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.48 13.18 4.03 4.06 0 16026.38 03:30:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175928.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,175929.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175930.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175931.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175932.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175933.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.22 12.59 4.04 4.05 0 24809.55 03:30:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175934.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175935.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.60 11.91 3.95 4.07 0 9955.31 03:30:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175936.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175937.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.41 13.18 4.03 4.06 0 16025.99 03:30:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175938.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,175939.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175940.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175941.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175942.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175943.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.22 12.59 4.04 4.05 0 24809.18 03:30:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175944.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175945.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.39 11.91 3.95 4.07 0 9955.05 03:30:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175946.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175947.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.55 13.18 4.03 4.06 0 16025.73 03:30:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175948.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175949.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175950.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175951.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175952.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175953.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.44 12.59 4.04 4.05 0 24808.95 03:30:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175954.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175955.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.50 11.91 3.95 4.07 0 9954.87 03:30:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175956.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175957.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.49 3.80 13.18 4.03 4.06 0 16025.33 03:30:32 m : AshtechGps::processRecord() - $GPGGA,175958.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175959.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180000.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180001.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180002.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180003.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.75 12.59 4.04 4.05 0 24808.59 03:30:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180004.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180005.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.64 11.91 3.95 4.07 0 9954.58 03:30:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : DepthEnvelope -- Measured altitude 9.393316 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180006.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.393316 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.393316 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.393316 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.393316 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.393316 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180007.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.393316 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.393316 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.49 3.84 13.18 4.03 4.06 0 16025.06 03:30:42 m : DepthEnvelope -- Measured altitude 8.824145 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.824145 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.824145 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180008.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.824145 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.824145 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : DepthEnvelope -- Measured altitude 8.824145 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.824145 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.419210 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180009.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.419210 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.419210 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.419210 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.419210 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.419210 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180010.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.419210 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.858453 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.858453 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.858453 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.858453 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180011.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.858453 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.858453 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.858453 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.858453 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.992195 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180012.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.992195 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.992195 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.992195 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.992195 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.992195 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180013.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 1.07 12.59 4.04 4.05 0 24808.41 03:30:48 m : DepthEnvelope -- Measured altitude 6.992195 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.164529 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.164529 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.164529 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.164529 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180014.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.164529 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.164529 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.164529 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.164529 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.857949 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180015.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.857949 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.47 0.75 11.91 3.95 4.07 0 9954.47 03:30:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.857949 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.857949 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.857949 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.857949 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180016.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.857949 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.376939 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.376939 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.376939 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.376939 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180017.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.376939 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.376939 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.60 1.25 13.18 4.03 4.06 0 16024.84 03:30:52 m : DepthEnvelope -- Measured altitude 5.376939 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.328570 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.328570 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180018.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.328570 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.328570 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : DepthEnvelope -- Measured altitude 5.328570 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.328570 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.328570 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180019.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.328570 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.418532 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.418532 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.418532 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.418532 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180020.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.418532 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.418532 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.418532 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.546346 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.546346 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180021.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.546346 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.546346 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.546346 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.546346 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.546346 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180022.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.789163 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.789163 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.789163 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.789163 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.789163 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180023.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 0.85 12.50 4.04 4.05 0 24808.28 03:30:58 m : DepthEnvelope -- Measured altitude 5.789163 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.789163 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.789163 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.000945 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.000945 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180024.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.000945 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.000945 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.000945 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.000945 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.000945 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180025.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.314223 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.47 0.79 11.91 3.96 4.08 0 9954.38 03:31:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.314223 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.314223 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.314223 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.314223 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180026.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.314223 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.314223 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.581979 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.581979 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.581979 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180027.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.581979 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.581979 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.56 1.65 13.18 4.05 4.07 0 16024.75 03:31:02 m : DepthEnvelope -- Measured altitude 6.581979 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.581979 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.581979 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180028.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.635213 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.635213 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : DepthEnvelope -- Measured altitude 6.635213 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.635213 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.635213 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180029.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.635213 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.635213 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.773419 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.773419 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.773419 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180030.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.773419 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.773419 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.773419 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.773419 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.976099 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180031.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.976099 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.976099 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.976099 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.976099 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.976099 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180032.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.976099 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.976099 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.324328 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.324328 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.324328 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180033.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 1.26 12.50 4.05 4.07 0 24808.20 03:31:08 m : DepthEnvelope -- Measured altitude 7.324328 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.324328 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.324328 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.324328 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.397627 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180034.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.397627 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.397627 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.397627 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.397627 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.397627 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180035.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.397627 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.43 0.90 11.91 3.96 4.08 0 9954.32 03:31:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.452235 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.452235 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.452235 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.452235 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180036.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.452235 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.452235 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.452235 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.452235 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.593809 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180037.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.593809 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.593809 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.60 1.25 13.18 4.05 4.07 0 16024.61 03:31:12 m : DepthEnvelope -- Measured altitude 7.593809 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.593809 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.593809 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180038.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.593809 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.689434 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.020000 : DepthEnvelope -- Measured altitude 7.689434 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.689434 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.689434 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180039.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.689434 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.689434 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.689434 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.646866 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.646866 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180040.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.646866 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.646866 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.646866 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.646866 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : Isus::select() timeout : DepthEnvelope -- Measured altitude 7.646866 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180041.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.646866 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.542892 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.542892 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.542892 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.542892 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180042.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.542892 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.542892 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.542892 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.547937 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.547937 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180043.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 0.85 12.50 4.05 4.07 0 24808.08 03:31:18 m : DepthEnvelope -- Measured altitude 7.547937 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.547937 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.547937 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.547937 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.547937 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180044.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.681574 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.681574 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.681574 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.681574 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.681574 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180045.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.681574 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.43 0.86 11.91 3.97 4.08 0 9954.24 03:31:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.681574 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.681574 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.753736 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.753736 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180046.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.753736 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.753736 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.753736 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.753736 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.753736 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180047.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.771301 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.771301 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.60 1.25 13.18 4.05 4.07 0 16024.52 03:31:22 m : DepthEnvelope -- Measured altitude 7.771301 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.771301 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.771301 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180048.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.771301 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.771301 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.023334 : DepthEnvelope -- Measured altitude 7.771301 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.055836 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.055836 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180049.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.055836 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.055836 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.055836 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.055836 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.055836 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180050.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.087987 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.087987 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.087987 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.087987 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.087987 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180051.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.087987 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.087987 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.471209 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.471209 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.471209 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180052.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.471209 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.471209 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.471209 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.471209 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.471209 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180053.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 0.85 12.59 4.05 4.07 0 24808.01 03:31:28 m : DepthEnvelope -- Measured altitude 8.452931 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.452931 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.452931 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.452931 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.452931 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180054.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.452931 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.452931 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.815998 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.815998 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.815998 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180055.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.815998 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.47 0.79 11.81 3.97 4.08 0 9954.18 03:31:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.815998 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.815998 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.815998 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.143841 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180056.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.143841 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.143841 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.143841 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.143841 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.143841 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180057.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.143841 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.143841 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.64 1.29 13.18 4.05 4.07 0 16024.38 03:31:32 m : DepthEnvelope -- Measured altitude 9.269858 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.269858 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.269858 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180058.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.269858 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.269858 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.023334 : DepthEnvelope -- Measured altitude 9.269858 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.269858 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.567138 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180059.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.567138 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.567138 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.567138 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.567138 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.567138 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180100.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.567138 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.676138 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.676138 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.676138 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.676138 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180101.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.676138 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.676138 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.676138 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.676138 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.860572 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180102.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.860572 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.860572 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.860572 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.860572 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.860572 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180103.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.48 0.85 12.50 4.05 4.07 0 24807.92 03:31:38 m : DepthEnvelope -- Measured altitude 9.860572 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.933276 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.933276 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.933276 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.933276 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180104.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.933276 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.933276 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.933276 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- altitude 10.114726 over abort altitude 10.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,180105.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.47 0.75 11.91 3.97 4.08 0 9954.10 03:31:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180106.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180107.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.64 1.25 13.18 4.05 4.08 0 16024.28 03:31:42 m : AshtechGps::processRecord() - $GPGGA,180108.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.023334 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180109.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180110.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180111.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180112.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180113.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.19 12.59 4.06 4.07 0 24807.82 03:31:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180114.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180115.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.64 11.91 3.97 4.08 0 9953.93 03:31:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180116.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180117.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.84 13.08 4.05 4.08 0 16023.92 03:31:52 m : AshtechGps::processRecord() - $GPGGA,180118.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 4.026667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180119.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180120.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180121.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180122.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180123.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 4.08 12.50 4.06 4.07 0 24807.43 03:31:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180124.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180125.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.64 11.81 3.95 4.07 0 9953.63 03:32:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180126.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180127.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.62 13.08 4.03 4.06 0 16023.61 03:32:02 m : AshtechGps::processRecord() - $GPGGA,180128.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.013334 : AshtechGps::processRecord() - $GPGGA,180129.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180130.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180131.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180132.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180133.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.04 12.50 4.04 4.05 0 24807.15 03:32:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180134.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180135.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.53 11.91 3.95 4.07 0 9953.45 03:32:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180136.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180137.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.34 13.08 4.03 4.06 0 16023.21 03:32:12 m : AshtechGps::processRecord() - $GPGGA,180138.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,180139.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180140.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180141.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180142.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180143.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.37 12.50 4.04 4.05 0 24806.82 03:32:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180144.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180145.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.35 2.42 11.81 3.95 4.07 0 9953.19 03:32:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180146.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180147.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.23 13.08 4.03 4.07 0 16022.96 03:32:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180148.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,180149.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180150.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180151.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180152.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180153.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.59 12.50 4.04 4.06 0 24806.59 03:32:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180154.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180155.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.24 11.91 3.95 4.07 0 9953.01 03:32:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180156.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180157.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.12 13.08 4.03 4.07 0 16022.56 03:32:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180158.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,180159.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180200.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180201.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180202.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180203.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.37 12.59 4.04 4.06 0 24806.25 03:32:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180204.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180205.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.42 11.91 3.95 4.07 0 9952.76 03:32:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180206.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180207.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.12 13.08 4.03 4.06 0 16022.30 03:32:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180208.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180209.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180210.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180211.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180212.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180213.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.15 12.50 4.04 4.05 0 24806.02 03:32:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180214.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180215.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.21 11.91 3.95 4.07 0 9952.60 03:32:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180216.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180217.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.49 3.23 13.08 4.03 4.06 0 16021.94 03:32:52 m : AshtechGps::processRecord() - $GPGGA,180218.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180219.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180220.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180221.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180222.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180223.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.22 12.50 4.04 4.05 0 24805.70 03:32:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180224.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180225.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.42 11.91 3.95 4.07 0 9952.35 03:33:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180226.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180227.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.23 13.08 4.03 4.06 0 16021.66 03:33:02 m : AshtechGps::processRecord() - $GPGGA,180228.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180229.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180230.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180231.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180232.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180233.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 2.92 12.50 4.04 4.05 0 24805.43 03:33:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180234.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180235.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.28 11.91 3.95 4.07 0 9952.19 03:33:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180236.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180237.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.26 13.08 4.03 4.06 0 16021.26 03:33:12 m : AshtechGps::processRecord() - $GPGGA,180238.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,180239.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180240.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180241.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180242.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180243.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.22 12.50 4.04 4.05 0 24805.10 03:33:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180244.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180245.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.24 11.91 3.95 4.07 0 9951.94 03:33:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180246.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180247.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.30 13.08 4.03 4.06 0 16021.01 03:33:22 m : AshtechGps::processRecord() - $GPGGA,180248.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,180249.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180250.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180251.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180252.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180253.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.82 12.50 4.04 4.05 0 24804.88 03:33:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180254.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180255.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.32 2.46 11.91 3.95 4.07 0 9951.73 03:33:30 m : AshtechGps::processRecord() - $GPGGA,180256.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180257.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.26 13.08 4.03 4.06 0 16020.62 03:33:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180258.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,180259.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180300.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180301.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180302.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180303.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 3.37 12.40 4.04 4.05 0 24804.55 03:33:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180304.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180305.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.32 2.39 11.91 3.95 4.07 0 9951.48 03:33:40 m : AshtechGps::processRecord() - $GPGGA,180306.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180307.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.26 13.08 4.03 4.06 0 16020.34 03:33:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180308.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,180309.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180310.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180311.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180312.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180313.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.30 12.40 4.04 4.05 0 24804.30 03:33:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180314.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180315.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.64 11.81 3.95 4.07 0 9951.30 03:33:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180316.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180317.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.23 13.08 4.03 4.06 0 16019.95 03:33:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180318.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180319.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180320.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180321.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180322.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180323.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 3.19 12.30 4.04 4.05 0 24803.93 03:33:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180324.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180325.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.53 11.81 3.95 4.07 0 9951.03 03:34:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180326.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180327.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.41 4.02 13.08 4.03 4.06 0 16019.70 03:34:02 m : AshtechGps::processRecord() - $GPGGA,180328.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180329.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180330.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180331.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180332.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180333.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.75 12.50 4.04 4.05 0 24803.68 03:34:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180334.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180335.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.50 11.81 3.95 4.07 0 9950.86 03:34:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180336.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180337.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 4.24 13.08 4.03 4.06 0 16019.29 03:34:12 m : AshtechGps::processRecord() - $GPGGA,180338.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180339.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180340.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180341.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180342.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180343.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.52 12.50 4.04 4.05 0 24803.31 03:34:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180344.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180345.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.46 11.91 3.95 4.06 0 9950.55 03:34:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180346.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180347.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.62 13.18 4.03 4.06 0 16019.02 03:34:22 m : AshtechGps::processRecord() - $GPGGA,180348.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,180349.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180350.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180351.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180352.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180353.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.33 12.50 4.04 4.05 0 24803.01 03:34:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180354.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180355.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.46 11.91 3.95 4.06 0 9950.37 03:34:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180356.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180357.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.41 13.18 4.03 4.06 0 16018.62 03:34:32 m : AshtechGps::processRecord() - $GPGGA,180358.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,180359.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180400.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180401.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180402.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180403.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.30 12.50 4.04 4.05 0 24802.65 03:34:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180404.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180405.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.32 2.50 11.91 3.95 4.07 0 9950.10 03:34:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180406.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180407.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.34 13.18 4.03 4.06 0 16018.35 03:34:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180408.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,180409.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180410.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180411.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180412.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180413.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.37 12.59 4.03 4.05 0 24802.40 03:34:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180414.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180415.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.39 11.91 3.95 4.07 0 9949.92 03:34:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180416.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180417.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.44 13.18 4.03 4.06 0 16017.95 03:34:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180418.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,180419.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180420.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180421.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180422.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180423.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.26 12.50 4.03 4.05 0 24802.05 03:34:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180424.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180425.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.50 11.81 3.95 4.07 0 9949.65 03:35:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180426.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180427.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.95 13.18 4.03 4.06 0 16017.68 03:35:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180428.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.003334 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180429.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180430.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180431.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180432.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180433.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.33 12.50 4.04 4.05 0 24801.81 03:35:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180434.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180435.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.42 11.91 3.95 4.07 0 9949.47 03:35:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180436.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180437.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.49 3.41 13.18 4.03 4.06 0 16017.24 03:35:12 m : AshtechGps::processRecord() - $GPGGA,180438.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180439.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180440.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180441.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180442.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180443.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.11 12.59 4.04 4.05 0 24801.47 03:35:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180444.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180445.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.53 11.81 3.95 4.07 0 9949.20 03:35:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180446.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180447.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.77 13.18 4.03 4.06 0 16016.97 03:35:22 m : AshtechGps::processRecord() - $GPGGA,180448.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180449.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180450.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180451.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180452.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180453.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.30 12.59 4.04 4.05 0 24801.23 03:35:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180454.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180455.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.46 11.91 3.95 4.07 0 9949.02 03:35:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180456.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180457.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.44 13.18 4.03 4.06 0 16016.58 03:35:32 m : AshtechGps::processRecord() - $GPGGA,180458.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,180459.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180500.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180501.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180502.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180503.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.44 12.59 4.04 4.05 0 24800.86 03:35:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180504.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180505.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.46 11.91 3.95 4.07 0 9948.74 03:35:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180506.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180507.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.48 13.18 4.03 4.06 0 16016.31 03:35:42 m : AshtechGps::processRecord() - $GPGGA,180508.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,180509.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.614045 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.614045 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.614045 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.614045 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180510.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.614045 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.614045 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.614045 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.950842 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.950842 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180511.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.950842 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.950842 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.950842 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.950842 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.950842 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180512.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.950842 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.403922 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.403922 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.403922 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.403922 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180513.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 1.78 12.59 4.04 4.05 0 24800.62 03:35:48 m : DepthEnvelope -- Measured altitude 8.403922 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.403922 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.403922 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.974880 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.974880 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180514.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.974880 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.974880 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.974880 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.974880 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.974880 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180515.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.215324 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.39 0.97 11.91 3.95 4.07 0 9948.56 03:35:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.215324 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.215324 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.215324 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.215324 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180516.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.215324 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.215324 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.215324 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.646046 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.646046 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180517.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.646046 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.646046 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.56 1.25 13.18 4.03 4.06 0 16016.01 03:35:52 m : DepthEnvelope -- Measured altitude 6.646046 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.646046 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.646046 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180518.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.853913 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.853913 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : DepthEnvelope -- Measured altitude 5.853913 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.853913 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.853913 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180519.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.853913 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.853913 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.441751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.441751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.441751 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180520.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.441751 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.441751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.441751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.441751 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.441751 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180521.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.319938 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.319938 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.319938 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.319938 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.319938 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180522.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.319938 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.319938 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.221211 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.221211 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.221211 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180523.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 0.85 12.50 4.04 4.05 0 24800.48 03:35:58 m : DepthEnvelope -- Measured altitude 5.221211 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.221211 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.221211 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.221211 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.269514 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180524.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.269514 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.269514 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.269514 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.269514 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.269514 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180525.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.269514 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.43 0.94 11.91 3.96 4.08 0 9948.48 03:36:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.269514 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.452753 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.452753 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.452753 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180526.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.452753 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.452753 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.452753 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.452753 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.634621 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180527.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.634621 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.634621 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.53 1.50 13.18 4.04 4.07 0 16015.92 03:36:02 m : DepthEnvelope -- Measured altitude 5.634621 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.634621 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.634621 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180528.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.634621 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.926565 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.013333 : DepthEnvelope -- Measured altitude 5.926565 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.926565 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.926565 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180529.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.926565 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.926565 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.926565 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.926565 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.107466 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180530.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.107466 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.107466 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.107466 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.107466 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.107466 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180531.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.107466 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.380791 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.380791 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.380791 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.380791 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180532.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.380791 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.380791 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.380791 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.575706 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.575706 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180533.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 1.29 12.50 4.05 4.07 0 24800.37 03:36:08 m : DepthEnvelope -- Measured altitude 6.575706 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.575706 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.575706 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.575706 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.575706 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180534.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.575706 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.539464 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.539464 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.539464 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.539464 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180535.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.539464 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.43 0.75 11.81 3.96 4.08 0 9948.42 03:36:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.539464 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.539464 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.866833 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.866833 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180536.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.866833 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.866833 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.866833 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.866833 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.866833 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180537.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.866833 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.036830 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.56 1.25 13.18 4.04 4.07 0 16015.78 03:36:12 m : DepthEnvelope -- Measured altitude 7.036830 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.036830 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.036830 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180538.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.036830 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.036830 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : DepthEnvelope -- Measured altitude 7.036830 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.164893 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.164893 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180539.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.164893 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.164893 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.164893 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.164893 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.164893 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180540.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.259433 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.259433 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.259433 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.259433 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.259433 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180541.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.259433 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.259433 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.259433 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.300287 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.300287 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180542.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.300287 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.300287 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.300287 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.300287 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.300287 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180543.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 0.89 12.50 4.05 4.07 0 24800.23 03:36:18 m : DepthEnvelope -- Measured altitude 7.455919 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.455919 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.455919 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.455919 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.455919 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180544.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.455919 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.455919 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.354994 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.354994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.354994 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180545.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.354994 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.43 0.90 11.91 3.96 4.08 0 9948.34 03:36:20 m : DepthEnvelope -- Measured altitude 7.354994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.354994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.354994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.354994 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180546.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.437290 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.437290 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.437290 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.437290 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.437290 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180547.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.437290 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.437290 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.56 1.68 13.18 4.04 4.07 0 16015.68 03:36:22 m : DepthEnvelope -- Measured altitude 7.321371 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.321371 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.321371 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180548.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.321371 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.321371 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : DepthEnvelope -- Measured altitude 7.321371 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.321371 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.280075 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180549.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.280075 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.280075 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.280075 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.280075 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.280075 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180550.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.280075 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.280075 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.442739 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.442739 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.442739 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180551.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.442739 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.442739 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.442739 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.442739 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.602339 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180552.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.602339 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.602339 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.602339 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.602339 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.602339 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180553.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 0.89 12.50 4.05 4.07 0 24800.15 03:36:28 m : DepthEnvelope -- Measured altitude 7.602339 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.757376 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.757376 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.757376 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.757376 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180554.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.757376 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.757376 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.757376 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.757376 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.926513 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180555.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.926513 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.43 0.75 11.91 3.96 4.08 0 9948.29 03:36:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.926513 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.926513 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.926513 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.926513 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180556.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.926513 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.145405 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.145405 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.145405 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.145405 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180557.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.145405 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.145405 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.60 1.25 13.08 4.04 4.07 0 16015.54 03:36:32 m : DepthEnvelope -- Measured altitude 8.145405 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.552890 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.552890 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180558.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.552890 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.552890 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : DepthEnvelope -- Measured altitude 8.552890 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.552890 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.552890 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180559.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.552890 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.712734 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.712734 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.712734 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.712734 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180600.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.712734 under allowable altitude 10.000000. Stopping! : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.712734 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.712734 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.931645 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.931645 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180601.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.931645 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.931645 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.931645 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.931645 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.931645 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180602.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.093059 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.093059 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.093059 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.093059 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.093059 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180603.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 0.92 12.50 4.05 4.07 0 24800.06 03:36:37 m : DepthEnvelope -- Measured altitude 9.093059 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.093059 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.093059 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.429479 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.429479 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180604.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.429479 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.429479 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.429479 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.429479 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.429479 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180605.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.483193 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.43 0.75 11.81 3.96 4.08 0 9948.20 03:36:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.483193 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.483193 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.483193 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.483193 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180606.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.483193 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.483193 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.483193 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.663637 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.663637 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180607.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.663637 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.663637 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.56 1.29 13.08 4.05 4.07 0 16015.45 03:36:42 m : DepthEnvelope -- Measured altitude 9.663637 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.663637 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.663637 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180608.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.831858 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.831858 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.020000 : DepthEnvelope -- Measured altitude 9.831858 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.831858 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.831858 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180609.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.831858 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.831858 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.093609 over abort altitude 10.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180610.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180611.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180612.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180613.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 1.26 12.50 4.05 4.07 0 24799.99 03:36:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180614.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180615.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.10 11.91 3.96 4.08 0 9948.14 03:36:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180616.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180617.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.70 13.08 4.05 4.07 0 16015.22 03:36:52 m : AshtechGps::processRecord() - $GPGGA,180618.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.020000 : AshtechGps::processRecord() - $GPGGA,180619.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180620.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180621.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180622.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180623.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.75 12.50 4.05 4.07 0 24799.69 03:36:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180624.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180625.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.32 2.75 11.81 3.94 4.06 0 9947.85 03:37:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180626.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180627.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.84 13.08 4.03 4.05 0 16014.91 03:37:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180628.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,180629.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180630.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180631.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180632.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180633.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 3.33 12.50 4.04 4.05 0 24799.44 03:37:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180634.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180635.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.28 11.91 3.94 4.06 0 9947.66 03:37:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180636.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180637.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.30 13.08 4.03 4.05 0 16014.49 03:37:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180638.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,180639.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180640.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180641.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180642.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180643.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 3.19 12.59 4.04 4.05 0 24799.11 03:37:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180644.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180645.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.13 11.91 3.95 4.07 0 9947.40 03:37:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180646.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180647.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.12 13.08 4.03 4.06 0 16014.21 03:37:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180648.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180649.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180650.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180651.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180652.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180653.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 3.63 12.50 4.04 4.05 0 24798.89 03:37:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180654.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180655.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.28 11.81 3.95 4.07 0 9947.19 03:37:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180656.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180657.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.49 3.16 13.08 4.03 4.06 0 16013.81 03:37:32 m : AshtechGps::processRecord() - $GPGGA,180658.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180659.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180700.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180701.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180702.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180703.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.67 12.50 4.04 4.05 0 24798.55 03:37:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180704.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180705.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.10 11.81 3.95 4.07 0 9946.93 03:37:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180706.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180707.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.16 13.08 4.03 4.06 0 16013.55 03:37:42 m : AshtechGps::processRecord() - $GPGGA,180708.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180709.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180710.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180711.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180712.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180713.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 2.92 12.50 4.04 4.05 0 24798.34 03:37:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180714.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180715.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.06 11.91 3.95 4.07 0 9946.76 03:37:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180716.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180717.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.12 13.08 4.03 4.06 0 16013.17 03:37:52 m : AshtechGps::processRecord() - $GPGGA,180718.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,180719.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180720.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180721.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180722.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180723.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 2.85 12.50 4.04 4.05 0 24798.04 03:37:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180724.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180725.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.35 2.17 11.91 3.94 4.06 0 9946.50 03:38:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180726.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180727.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.16 13.08 4.03 4.06 0 16012.92 03:38:02 m : AshtechGps::processRecord() - $GPGGA,180728.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,180729.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180730.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180731.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180732.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180733.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 2.89 12.50 4.04 4.05 0 24797.82 03:38:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180734.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180735.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.32 2.13 11.91 3.94 4.06 0 9946.34 03:38:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180736.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180737.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.12 13.08 4.03 4.06 0 16012.53 03:38:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180738.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,180739.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180740.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180741.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180742.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180743.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 4.04 12.40 4.04 4.05 0 24797.52 03:38:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180744.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180745.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.06 11.91 3.94 4.06 0 9946.09 03:38:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180746.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180747.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.12 13.08 4.03 4.06 0 16012.27 03:38:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180748.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,180749.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180750.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180751.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180752.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180753.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 4.64 12.50 4.04 4.05 0 24797.31 03:38:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180754.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180755.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 2.35 11.91 3.94 4.06 0 9945.92 03:38:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180756.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180757.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.12 13.08 4.03 4.06 0 16011.89 03:38:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180758.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.003334 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180759.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180800.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180801.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180802.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180803.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.00 12.50 4.04 4.05 0 24796.99 03:38:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180804.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180805.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.32 2.42 11.81 3.94 4.06 0 9945.67 03:38:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180806.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180807.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.49 3.12 13.08 4.02 4.05 0 16011.62 03:38:42 m : AshtechGps::processRecord() - $GPGGA,180808.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180809.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180810.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180811.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180812.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180813.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.37 12.30 4.03 4.05 0 24796.77 03:38:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180814.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180815.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 3.51 11.81 3.94 4.06 0 9945.49 03:38:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180816.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180817.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.62 13.08 4.02 4.05 0 16011.21 03:38:52 m : AshtechGps::processRecord() - $GPGGA,180818.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180819.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180820.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180821.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180822.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180823.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.41 12.50 4.03 4.05 0 24796.41 03:38:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180824.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180825.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.32 2.21 11.91 3.94 4.06 0 9945.18 03:39:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180826.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180827.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.26 13.08 4.03 4.06 0 16010.92 03:39:02 m : AshtechGps::processRecord() - $GPGGA,180828.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : AshtechGps::processRecord() - $GPGGA,180829.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180830.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180831.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180832.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180833.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 4.78 12.50 4.04 4.05 0 24796.17 03:39:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180834.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180835.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.35 11.81 3.94 4.06 0 9944.99 03:39:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180836.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180837.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.30 13.08 4.03 4.06 0 16010.52 03:39:12 m : AshtechGps::processRecord() - $GPGGA,180838.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,180839.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180840.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180841.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180842.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180843.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.07 12.50 4.04 4.05 0 24795.82 03:39:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180844.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180845.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.32 2.21 11.91 3.94 4.06 0 9944.72 03:39:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180846.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180847.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.37 13.08 4.03 4.05 0 16010.21 03:39:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180848.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,180849.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180850.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180851.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180852.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180853.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.26 12.50 4.04 4.05 0 24795.59 03:39:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180854.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180855.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.28 11.81 3.94 4.06 0 9944.55 03:39:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180856.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180857.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.41 13.08 4.03 4.05 0 16009.79 03:39:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180858.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,180859.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180900.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180901.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180902.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180903.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.30 12.50 4.04 4.05 0 24795.25 03:39:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180904.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180905.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.28 11.91 3.94 4.06 0 9944.28 03:39:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180906.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180907.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.37 13.18 4.03 4.05 0 16009.50 03:39:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180908.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.003334 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180909.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180910.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180911.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180912.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180913.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.97 12.50 4.03 4.05 0 24795.02 03:39:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180914.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180915.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.35 11.91 3.94 4.06 0 9944.06 03:39:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180916.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180917.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.45 3.34 13.18 4.03 4.05 0 16009.08 03:39:52 m : AshtechGps::processRecord() - $GPGGA,180918.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180919.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180920.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180921.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180922.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180923.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 3.85 12.59 4.03 4.05 0 24794.65 03:39:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180924.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180925.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 2.39 11.91 3.94 4.06 0 9943.78 03:40:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180926.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180927.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 4.20 13.18 4.03 4.05 0 16008.76 03:40:02 m : AshtechGps::processRecord() - $GPGGA,180928.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180929.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180930.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180931.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180932.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180933.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.15 12.50 4.03 4.05 0 24794.43 03:40:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180934.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180935.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.28 11.91 3.94 4.06 0 9943.60 03:40:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180936.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180937.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.30 13.18 4.03 4.05 0 16008.39 03:40:12 m : AshtechGps::processRecord() - $GPGGA,180938.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : AshtechGps::processRecord() - $GPGGA,180939.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180940.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180941.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180942.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180943.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.11 12.50 4.03 4.05 0 24794.11 03:40:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180944.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180945.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 2.42 11.81 3.94 4.06 0 9943.33 03:40:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180946.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180947.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 3.44 13.18 4.03 4.05 0 16008.12 03:40:22 m : AshtechGps::processRecord() - $GPGGA,180948.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : AshtechGps::processRecord() - $GPGGA,180949.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180950.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180951.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180952.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180953.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.59 12.59 4.03 4.05 0 24793.88 03:40:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180954.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180955.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.28 2.28 11.91 3.94 4.06 0 9943.12 03:40:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180956.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180957.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.23 13.18 4.03 4.05 0 16007.71 03:40:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,180958.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : AshtechGps::processRecord() - $GPGGA,180959.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181000.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181001.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181002.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181003.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.22 12.59 4.03 4.05 0 24793.53 03:40:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181004.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.775526 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,181005.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.775526 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.32 2.28 11.81 3.94 4.06 0 9942.86 03:40:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.775526 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.775526 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.775526 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.775526 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181006.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.775526 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.775526 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.265799 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.265799 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.265799 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181007.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.265799 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.265799 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.41 3.41 13.18 4.03 4.06 0 16007.45 03:40:42 m : DepthEnvelope -- Measured altitude 9.265799 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.265799 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.813106 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181008.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.813106 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.813106 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : DepthEnvelope -- Measured altitude 8.813106 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.813106 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.813106 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181009.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.813106 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.209215 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.209215 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.209215 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.209215 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181010.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.209215 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.209215 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.209215 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.209215 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.580486 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181011.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.580486 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.580486 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.580486 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.580486 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.580486 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,181012.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.580486 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.912032 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.912032 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.912032 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.912032 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181013.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 0.92 12.50 4.03 4.05 0 24793.38 03:40:48 m : DepthEnvelope -- Measured altitude 6.912032 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.912032 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.912032 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.227656 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.227656 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181014.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.227656 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.227656 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.227656 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.227656 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.227656 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181015.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.227656 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.39 0.79 11.91 3.94 4.06 0 9942.78 03:40:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.891985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.891985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.891985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.891985 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181016.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.891985 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.891985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.891985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.643081 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.643081 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181017.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.643081 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.643081 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.53 1.68 13.18 4.03 4.06 0 16007.29 03:40:52 m : DepthEnvelope -- Measured altitude 5.643081 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.643081 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.643081 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181018.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.671884 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.671884 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : DepthEnvelope -- Measured altitude 5.671884 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.671884 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.671884 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,181019.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.671884 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.671884 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.671884 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.658777 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.658777 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181020.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.658777 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.658777 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.658777 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.658777 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.658777 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181021.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.895770 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.895770 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.895770 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.895770 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.895770 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181022.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.895770 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.895770 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.094948 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.094948 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.094948 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181023.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 1.18 12.50 4.03 4.05 0 24793.28 03:40:58 m : DepthEnvelope -- Measured altitude 6.094948 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.094948 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.094948 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.094948 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.094948 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181024.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.366216 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.366216 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.366216 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.366216 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.366216 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181025.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.366216 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.39 0.72 11.81 3.96 4.07 0 9942.67 03:41:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.366216 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.562302 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.562302 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.562302 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,181026.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.562302 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.562302 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.562302 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.562302 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.657159 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181027.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.657159 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.657159 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.53 1.21 13.18 4.04 4.07 0 16007.19 03:41:02 m : DepthEnvelope -- Measured altitude 6.657159 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.657159 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.657159 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181028.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.657159 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.657159 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.010000 : DepthEnvelope -- Measured altitude 6.775301 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.775301 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.775301 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181029.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.775301 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.775301 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.775301 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.775301 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.966591 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181030.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.966591 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.966591 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.966591 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.966591 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.966591 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181031.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.966591 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.324957 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.324957 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.324957 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.324957 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181032.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.324957 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.324957 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.324957 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.324957 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.469000 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,181033.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 0.85 12.59 4.05 4.06 0 24793.22 03:41:08 m : DepthEnvelope -- Measured altitude 7.469000 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.469000 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.469000 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.469000 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.469000 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181034.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.469000 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.673722 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.673722 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.673722 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.673722 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181035.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.673722 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.39 0.86 11.81 3.96 4.07 0 9942.59 03:41:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.673722 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.673722 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.673722 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.748973 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181036.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.748973 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.748973 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.748973 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.748973 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.748973 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181037.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.748973 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.758603 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.53 1.54 13.08 4.04 4.07 0 16007.02 03:41:12 m : DepthEnvelope -- Measured altitude 7.758603 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.758603 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.758603 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181038.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.758603 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.758603 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : DepthEnvelope -- Measured altitude 7.758603 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.581489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.581489 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181039.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.581489 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.581489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.581489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.581489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.581489 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,181040.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.581489 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.615819 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.615819 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.615819 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.615819 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181041.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.615819 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.615819 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.615819 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.621173 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.621173 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181042.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.621173 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.621173 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.621173 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.621173 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.621173 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181043.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 1.00 12.59 4.05 4.06 0 24793.11 03:41:18 m : DepthEnvelope -- Measured altitude 7.585962 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.585962 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.585962 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.585962 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.585962 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181044.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.585962 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.585962 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.585962 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.688546 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.688546 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181045.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.688546 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.39 0.72 11.81 3.96 4.08 0 9942.50 03:41:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.688546 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.688546 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.688546 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.688546 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181046.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.791062 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.791062 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.791062 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.791062 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.791062 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,181047.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.791062 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.791062 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.53 1.21 13.18 4.04 4.07 0 16006.93 03:41:22 m : DepthEnvelope -- Measured altitude 7.919968 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.919968 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.919968 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181048.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.919968 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.919968 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : DepthEnvelope -- Measured altitude 7.919968 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.919968 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.919968 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181049.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.019942 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.019942 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.019942 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.019942 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.019942 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181050.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.019942 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.019942 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.391834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.391834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.391834 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181051.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.391834 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.391834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.391834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.391834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.391834 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181052.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.551640 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.551640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.551640 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.551640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.551640 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181053.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.40 0.85 12.50 4.05 4.06 0 24793.05 03:41:28 m : DepthEnvelope -- Measured altitude 8.551640 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.551640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.904910 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.904910 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.904910 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,181054.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.904910 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.904910 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.904910 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.904910 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.131891 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181055.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.131891 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.39 0.75 11.81 3.96 4.08 0 9942.45 03:41:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.131891 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.131891 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.131891 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.131891 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181056.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.131891 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.131891 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.255059 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.255059 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.255059 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181057.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.255059 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.255059 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.53 1.25 13.08 4.04 4.07 0 16006.80 03:41:32 m : DepthEnvelope -- Measured altitude 9.255059 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.255059 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.552587 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181058.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.552587 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.552587 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : DepthEnvelope -- Measured altitude 9.552587 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.552587 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.552587 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181059.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.552587 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.738615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.738615 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.738615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.738615 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181100.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.738615 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.738615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.738615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.738615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.892754 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,181101.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.892754 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.892754 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.892754 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.892754 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.892754 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181102.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.892754 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.962985 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.962985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.962985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.962985 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181103.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.36 0.89 12.50 4.05 4.06 0 24792.96 03:41:38 m : DepthEnvelope -- Measured altitude 9.962985 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.962985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.962985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.161747 over abort altitude 10.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181104.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181105.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.43 0.75 11.81 3.96 4.08 0 9942.36 03:41:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181106.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181107.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.53 1.94 13.08 4.04 4.07 0 16006.71 03:41:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181108.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,181109.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181110.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181111.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181112.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181113.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.37 12.59 4.05 4.07 0 24792.83 03:41:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181114.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181115.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 2.67 11.81 3.96 4.08 0 9942.20 03:41:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181116.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181117.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 3.80 13.08 4.04 4.07 0 16006.30 03:41:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181118.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,181119.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,181120.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181121.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181122.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181123.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.37 12.50 4.05 4.07 0 24792.44 03:41:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181124.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181125.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.46 11.81 3.94 4.06 0 9941.89 03:42:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181126.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181127.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.55 13.08 4.03 4.05 0 16006.01 03:42:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181128.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.006667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181129.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181130.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181131.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181132.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181133.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.41 12.50 4.03 4.05 0 24792.21 03:42:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181134.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181135.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.24 11.81 3.94 4.06 0 9941.72 03:42:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181136.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181137.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.45 3.26 13.08 4.03 4.05 0 16005.60 03:42:12 m : AshtechGps::processRecord() - $GPGGA,181138.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181139.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181140.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181141.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181142.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181143.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 2.92 12.59 4.03 4.05 0 24791.89 03:42:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181144.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181145.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.13 11.81 3.94 4.06 0 9941.45 03:42:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181146.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181147.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.26 13.08 4.03 4.05 0 16005.34 03:42:22 m : AshtechGps::processRecord() - $GPGGA,181148.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181149.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181150.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181151.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181152.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181153.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.15 12.50 4.04 4.05 0 24791.67 03:42:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181154.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181155.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 1.99 11.91 3.94 4.06 0 9941.28 03:42:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181156.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181157.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.05 13.08 4.03 4.05 0 16004.95 03:42:32 m : AshtechGps::processRecord() - $GPGGA,181158.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,181159.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181200.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181201.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181202.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181203.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.15 12.50 4.04 4.05 0 24791.35 03:42:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181204.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181205.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.06 11.81 3.94 4.06 0 9941.03 03:42:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181206.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181207.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.01 13.08 4.03 4.05 0 16004.70 03:42:42 m : AshtechGps::processRecord() - $GPGGA,181208.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,181209.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181210.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181211.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181212.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181213.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 2.70 12.50 4.03 4.05 0 24791.15 03:42:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181214.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181215.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.28 2.17 11.81 3.94 4.06 0 9940.86 03:42:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181216.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181217.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.16 13.08 4.03 4.05 0 16004.33 03:42:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181218.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : AshtechGps::processRecord() - $GPGGA,181219.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181220.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181221.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181222.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181223.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.00 12.50 4.03 4.05 0 24790.81 03:42:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181224.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181225.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 2.42 11.81 3.94 4.06 0 9940.61 03:43:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181226.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181227.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 3.08 13.08 4.03 4.06 0 16004.07 03:43:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181228.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : AshtechGps::processRecord() - $GPGGA,181229.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181230.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181231.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181232.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181233.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.07 12.50 4.03 4.05 0 24790.60 03:43:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181234.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181235.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.13 11.91 3.94 4.06 0 9940.43 03:43:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181236.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181237.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.19 13.08 4.03 4.06 0 16003.68 03:43:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181238.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181239.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181240.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181241.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181242.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181243.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 2.96 12.40 4.03 4.05 0 24790.27 03:43:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181244.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181245.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 2.24 11.91 3.94 4.06 0 9940.19 03:43:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181246.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181247.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.41 3.34 13.08 4.03 4.05 0 16003.44 03:43:22 m : AshtechGps::processRecord() - $GPGGA,181248.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181249.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181250.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181251.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181252.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181253.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.15 12.30 4.03 4.05 0 24790.06 03:43:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181254.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181255.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.21 11.91 3.94 4.06 0 9939.99 03:43:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181256.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181257.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.12 13.08 4.03 4.05 0 16003.05 03:43:32 m : AshtechGps::processRecord() - $GPGGA,181258.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181259.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181300.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181301.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181302.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181303.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.19 12.30 4.03 4.05 0 24789.70 03:43:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181304.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181305.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.28 11.91 3.94 4.06 0 9939.72 03:43:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181306.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181307.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 3.41 13.08 4.02 4.05 0 16002.76 03:43:42 m : AshtechGps::processRecord() - $GPGGA,181308.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,181309.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181310.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181311.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181312.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181313.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.22 12.50 4.03 4.05 0 24789.47 03:43:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181314.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181315.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.75 11.91 3.94 4.06 0 9939.55 03:43:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181316.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181317.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.55 13.08 4.02 4.05 0 16002.34 03:43:52 m : AshtechGps::processRecord() - $GPGGA,181318.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,181319.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181320.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181321.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181322.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181323.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.11 12.50 4.03 4.05 0 24789.04 03:43:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181324.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181325.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.32 2.24 11.81 3.94 4.06 0 9939.24 03:44:00 m : AshtechGps::processRecord() - $GPGGA,181326.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181327.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.48 13.08 4.02 4.05 0 16002.07 03:44:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181328.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,181329.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181330.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181331.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181332.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181333.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.37 12.50 4.03 4.05 0 24788.79 03:44:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181334.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181335.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 2.24 11.91 3.94 4.06 0 9939.06 03:44:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181336.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181337.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 3.59 13.08 4.02 4.05 0 16001.64 03:44:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181338.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,181339.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181340.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181341.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181342.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181343.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.26 12.50 4.03 4.05 0 24788.44 03:44:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181344.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181345.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 2.24 11.81 3.94 4.06 0 9938.80 03:44:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181346.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181347.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.44 13.08 4.02 4.05 0 16001.38 03:44:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181348.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181349.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181350.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181351.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181352.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181353.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.30 12.50 4.03 4.05 0 24788.21 03:44:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181354.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181355.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 2.28 11.81 3.94 4.06 0 9938.63 03:44:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181356.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181357.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.45 3.34 13.18 4.02 4.05 0 16000.97 03:44:32 m : AshtechGps::processRecord() - $GPGGA,181358.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181359.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181400.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181401.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181402.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181403.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.44 12.50 4.03 4.05 0 24787.86 03:44:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181404.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181405.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 3.37 11.81 3.94 4.06 0 9938.35 03:44:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181406.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181407.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 3.55 13.18 4.02 4.05 0 16000.71 03:44:42 m : AshtechGps::processRecord() - $GPGGA,181408.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181409.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181410.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181411.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181412.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181413.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.04 12.50 4.03 4.05 0 24787.62 03:44:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181414.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181415.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 2.28 11.81 3.94 4.06 0 9938.18 03:44:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181416.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181417.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 3.41 13.18 4.02 4.05 0 16000.31 03:44:52 m : AshtechGps::processRecord() - $GPGGA,181418.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,181419.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181420.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181421.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181422.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181423.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.04 12.59 4.03 4.05 0 24787.29 03:44:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181424.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181425.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 2.31 11.91 3.94 4.06 0 9937.92 03:45:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181426.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181427.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 3.34 13.18 4.02 4.05 0 16000.06 03:45:02 m : AshtechGps::processRecord() - $GPGGA,181428.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,181429.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181430.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181431.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181432.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181433.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.41 12.50 4.03 4.05 0 24787.05 03:45:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181434.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181435.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.28 2.42 11.91 3.94 4.06 0 9937.74 03:45:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181436.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181437.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.23 13.18 4.02 4.05 0 15999.66 03:45:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181438.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,181439.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181440.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181441.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181442.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181443.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.07 12.50 4.03 4.05 0 24786.70 03:45:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181444.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181445.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 2.35 11.81 3.94 4.06 0 9937.48 03:45:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181446.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181447.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 3.34 13.18 4.02 4.05 0 15999.40 03:45:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181448.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,181449.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181450.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.732789 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.732789 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.732789 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.732789 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.732789 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181451.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.732789 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.732789 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.079732 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.079732 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.079732 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,181452.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.079732 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.079732 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.079732 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.079732 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.079732 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181453.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.19 12.59 4.03 4.05 0 24786.49 03:45:28 m : DepthEnvelope -- Measured altitude 8.612488 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.612488 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.612488 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.612488 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.612488 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181454.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.612488 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.612488 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.049040 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.049040 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.049040 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181455.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.049040 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.35 0.97 11.91 3.94 4.06 0 9937.30 03:45:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.049040 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.049040 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.049040 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.498853 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181456.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.498853 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.498853 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.498853 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.498853 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.498853 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181457.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.498853 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.498853 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.49 1.29 13.18 4.02 4.05 0 15999.08 03:45:32 m : DepthEnvelope -- Measured altitude 6.740458 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.740458 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.740458 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181458.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.740458 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.740458 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : DepthEnvelope -- Measured altitude 6.740458 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.740458 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.043187 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,181459.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.043187 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.043187 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.043187 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.043187 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.043187 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181500.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.043187 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.561830 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.561830 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.561830 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.561830 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181501.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.561830 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.561830 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.561830 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.561830 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.402097 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181502.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.402097 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.402097 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.402097 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.402097 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.402097 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181503.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 0.85 12.50 4.03 4.05 0 24786.29 03:45:38 m : DepthEnvelope -- Measured altitude 5.402097 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.280360 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.280360 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.280360 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.280360 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181504.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.280360 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.280360 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.280360 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.374829 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.374829 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181505.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.374829 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.35 1.05 11.81 3.96 4.07 0 9937.22 03:45:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.374829 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.374829 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.374829 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.374829 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,181506.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.374829 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.531555 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.531555 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.531555 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.531555 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181507.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.531555 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.531555 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.49 1.47 13.18 4.03 4.07 0 15998.99 03:45:42 m : DepthEnvelope -- Measured altitude 5.531555 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.814596 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.814596 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181508.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.814596 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.814596 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.006667 : DepthEnvelope -- Measured altitude 5.814596 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.814596 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.814596 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181509.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.937150 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.937150 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.937150 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.937150 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.937150 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181510.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.937150 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.937150 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.937150 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.225182 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.225182 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181511.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.225182 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.225182 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.225182 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.225182 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.225182 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181512.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.463113 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.463113 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.463113 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.463113 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.463113 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,181513.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 1.11 12.59 4.04 4.06 0 24786.21 03:45:48 m : DepthEnvelope -- Measured altitude 6.463113 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.463113 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.645895 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.645895 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.645895 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181514.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.645895 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.645895 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.645895 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.645895 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.645895 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181515.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.745265 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.39 0.86 11.81 3.96 4.07 0 9937.15 03:45:50 m : DepthEnvelope -- Measured altitude 6.745265 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.745265 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.745265 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.745265 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181516.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.745265 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.745265 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.869806 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.869806 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.869806 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181517.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.869806 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.869806 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.53 1.25 13.18 4.03 4.07 0 15998.85 03:45:52 m : DepthEnvelope -- Measured altitude 6.869806 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.869806 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.869806 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181518.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.135105 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.135105 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.010000 : DepthEnvelope -- Measured altitude 7.135105 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.135105 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.135105 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181519.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.135105 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.135105 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.216552 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.216552 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.216552 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,181520.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.216552 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.216552 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.216552 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.216552 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.254132 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181521.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.254132 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.254132 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.254132 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.254132 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.254132 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181522.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.254132 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.254132 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.543368 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.543368 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.543368 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181523.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 0.89 12.50 4.04 4.06 0 24786.10 03:45:58 m : DepthEnvelope -- Measured altitude 7.543368 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.543368 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.543368 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.543368 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.386994 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181524.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.386994 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.386994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.386994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.386994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.386994 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181525.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.386994 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.35 1.81 11.81 3.96 4.07 0 9937.07 03:46:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.476679 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.476679 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.476679 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.476679 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181526.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.476679 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.476679 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.476679 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.476679 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.464292 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,181527.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.464292 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.464292 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.49 1.54 13.08 4.04 4.07 0 15998.75 03:46:02 m : DepthEnvelope -- Measured altitude 7.464292 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.464292 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.464292 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181528.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.464292 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.600674 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.013333 : DepthEnvelope -- Measured altitude 7.600674 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.600674 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.600674 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181529.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.600674 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.600674 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.600674 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.600952 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.600952 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181530.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.600952 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.600952 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.600952 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.600952 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.600952 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181531.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.600952 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.728564 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.728564 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.728564 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.728564 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181532.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.728564 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.728564 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.728564 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.882740 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.882740 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181533.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 1.07 12.50 4.05 4.06 0 24786.01 03:46:08 m : DepthEnvelope -- Measured altitude 7.882740 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.882740 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.882740 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.882740 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.882740 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,181534.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.975428 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.975428 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.975428 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.975428 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.975428 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181535.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.975428 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.39 0.75 11.81 3.96 4.07 0 9937.01 03:46:10 m : DepthEnvelope -- Measured altitude 7.975428 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.975428 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.170720 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.170720 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181536.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.170720 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.170720 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.170720 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.170720 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.170720 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181537.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.472162 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.472162 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.53 1.25 13.08 4.04 4.07 0 15998.62 03:46:12 m : DepthEnvelope -- Measured altitude 8.472162 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.472162 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.472162 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181538.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.472162 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.472162 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : DepthEnvelope -- Measured altitude 8.614574 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.614574 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.614574 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181539.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.614574 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.614574 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.614574 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.614574 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.614574 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181540.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.756780 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.756780 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.756780 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.756780 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.756780 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,181541.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.756780 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.756780 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.104332 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.104332 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.104332 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181542.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.104332 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.104332 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.104332 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.104332 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.104332 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181543.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 0.89 12.50 4.05 4.06 0 24785.91 03:46:17 m : DepthEnvelope -- Measured altitude 9.236279 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.236279 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.236279 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.236279 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.236279 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181544.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.236279 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.236279 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.603068 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.603068 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.603068 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181545.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.603068 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.39 0.79 11.91 3.96 4.07 0 9936.92 03:46:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.603068 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.603068 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.603068 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.772628 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181546.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.772628 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.772628 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.772628 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.772628 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.772628 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181547.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.772628 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.772628 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.53 1.25 13.08 4.04 4.07 0 15998.53 03:46:22 m : DepthEnvelope -- altitude 10.088648 over abort altitude 10.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181548.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,181549.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181550.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181551.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181552.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181553.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 2.52 12.50 4.05 4.06 0 24785.85 03:46:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181554.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181555.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 2.50 11.81 3.96 4.07 0 9936.83 03:46:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181556.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181557.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 3.77 13.08 4.04 4.07 0 15998.24 03:46:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181558.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,181559.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181600.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181601.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181602.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181603.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.78 12.50 4.05 4.06 0 24785.50 03:46:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181604.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181605.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.93 11.91 3.94 4.06 0 9936.55 03:46:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181606.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181607.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 4.06 13.08 4.02 4.05 0 15997.96 03:46:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181608.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.003334 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181609.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181610.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181611.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181612.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181613.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.37 12.59 4.03 4.04 0 24785.24 03:46:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181614.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181615.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 2.53 11.81 3.94 4.06 0 9936.39 03:46:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181616.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181617.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.41 3.66 13.08 4.02 4.05 0 15997.59 03:46:52 m : AshtechGps::processRecord() - $GPGGA,181618.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181619.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181620.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181621.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181622.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181623.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 2.92 12.50 4.03 4.04 0 24784.90 03:46:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181624.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181625.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.78 11.81 3.94 4.06 0 9936.14 03:47:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181626.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181627.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.37 13.08 4.03 4.05 0 15997.36 03:47:02 m : AshtechGps::processRecord() - $GPGGA,181628.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181629.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181630.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181631.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181632.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181633.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.07 12.50 4.03 4.05 0 24784.67 03:47:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181634.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181635.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.60 11.81 3.94 4.06 0 9935.98 03:47:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181636.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181637.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.30 13.08 4.03 4.05 0 15997.01 03:47:12 m : AshtechGps::processRecord() - $GPGGA,181638.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,181639.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181640.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181641.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181642.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181643.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.15 12.50 4.03 4.05 0 24784.33 03:47:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181644.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181645.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 2.53 11.81 3.94 4.06 0 9935.76 03:47:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181646.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181647.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 3.55 13.08 4.03 4.05 0 15996.79 03:47:22 m : AshtechGps::processRecord() - $GPGGA,181648.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : AshtechGps::processRecord() - $GPGGA,181649.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181650.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181651.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181652.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181653.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.04 12.40 4.03 4.04 0 24784.11 03:47:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181654.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181655.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.28 2.21 11.91 3.94 4.06 0 9935.60 03:47:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181656.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181657.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.30 13.08 4.03 4.05 0 15996.45 03:47:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181658.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : AshtechGps::processRecord() - $GPGGA,181659.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181700.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181701.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181702.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181703.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.00 12.40 4.03 4.04 0 24783.77 03:47:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181704.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181705.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.42 11.81 3.94 4.06 0 9935.38 03:47:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181706.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181707.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 5.06 13.08 4.02 4.05 0 15996.22 03:47:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181708.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,181709.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181710.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181711.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181712.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181713.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.37 12.40 4.03 4.05 0 24783.55 03:47:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181714.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181715.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.75 11.91 3.94 4.06 0 9935.23 03:47:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181716.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181717.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 3.66 13.08 4.02 4.05 0 15995.81 03:47:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181718.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181719.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181720.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181721.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181722.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181723.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.04 12.40 4.03 4.05 0 24783.18 03:47:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181724.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181725.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 2.53 11.91 3.94 4.06 0 9934.99 03:48:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181726.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181727.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.41 3.66 13.08 4.02 4.05 0 15995.58 03:48:02 m : AshtechGps::processRecord() - $GPGGA,181728.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181729.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181730.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181731.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181732.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181733.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.22 12.40 4.03 4.05 0 24782.95 03:48:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,181734.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181735.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.24 2.53 11.91 3.94 4.06 0 9934.84 03:48:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181736.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181737.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 3.52 13.08 4.02 4.05 0 15995.22 03:48:12 m : AshtechGps::processRecord() - $GPGGA,181738.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181739.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181740.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181741.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181742.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181743.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.22 12.40 4.03 4.05 0 24782.58 03:48:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181744.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181745.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.46 11.91 3.94 4.06 0 9934.59 03:48:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181746.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181747.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 3.77 13.08 4.02 4.05 0 15994.98 03:48:22 m : AshtechGps::processRecord() - $GPGGA,181748.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,181749.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181750.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181751.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181752.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181753.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.30 12.40 4.03 4.05 0 24782.35 03:48:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181754.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181755.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.78 11.81 3.94 4.06 0 9934.43 03:48:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181756.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181757.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 3.98 13.08 4.02 4.05 0 15994.62 03:48:32 m : AshtechGps::processRecord() - $GPGGA,181758.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,181759.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181800.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181801.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181802.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181803.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.22 12.30 4.03 4.05 0 24782.01 03:48:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181804.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181805.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.24 2.39 11.81 3.94 4.06 0 9934.16 03:48:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181806.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181807.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 3.84 13.08 4.02 4.05 0 15994.38 03:48:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181808.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,181809.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181810.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181811.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181812.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181813.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.15 12.40 4.03 4.04 0 24781.76 03:48:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181814.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181815.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.24 2.42 11.81 3.94 4.06 0 9934.00 03:48:50 m : AshtechGps::processRecord() - $GPGGA,181816.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181817.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 3.62 13.08 4.02 4.05 0 15994.01 03:48:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181818.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,181819.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181820.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181821.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181822.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181823.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.41 12.50 4.03 4.04 0 24781.42 03:48:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181824.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181825.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 3.00 11.81 3.94 4.06 0 9933.76 03:49:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181826.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181827.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 4.38 13.08 4.02 4.05 0 15993.77 03:49:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181828.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181829.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181830.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181831.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181832.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181833.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.22 12.50 4.03 4.04 0 24781.19 03:49:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181834.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181835.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.39 11.81 3.94 4.06 0 9933.59 03:49:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181836.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181837.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.37 3.66 13.08 4.02 4.05 0 15993.41 03:49:12 m : AshtechGps::processRecord() - $GPGGA,181838.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181839.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181840.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181841.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181842.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181843.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.33 12.59 4.03 4.04 0 24780.85 03:49:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181844.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181845.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.46 11.91 3.94 4.06 0 9933.34 03:49:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181846.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181847.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 3.88 13.18 4.02 4.05 0 15993.17 03:49:22 m : AshtechGps::processRecord() - $GPGGA,181848.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181849.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181850.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181851.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181852.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181853.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.37 12.50 4.03 4.05 0 24780.62 03:49:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181854.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181855.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.64 11.81 3.94 4.06 0 9933.19 03:49:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181856.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181857.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 3.73 13.18 4.02 4.05 0 15992.80 03:49:32 m : AshtechGps::processRecord() - $GPGGA,181858.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,181859.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181900.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181901.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181902.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181903.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.30 12.59 4.03 4.05 0 24780.27 03:49:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181904.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181905.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.50 11.81 3.94 4.06 0 9932.95 03:49:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181906.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181907.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 3.62 13.18 4.02 4.05 0 15992.56 03:49:42 m : AshtechGps::processRecord() - $GPGGA,181908.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,181909.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181910.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181911.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181912.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181913.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.07 12.59 4.03 4.04 0 24780.03 03:49:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181914.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181915.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.24 3.29 11.91 3.94 4.06 0 9932.79 03:49:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181916.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181917.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 3.88 13.08 4.02 4.05 0 15992.20 03:49:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181918.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,181919.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181920.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181921.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181922.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181923.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.30 12.59 4.03 4.04 0 24779.69 03:49:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181924.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181925.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.39 11.91 3.94 4.06 0 9932.51 03:50:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181926.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181927.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 3.80 13.18 4.02 4.05 0 15991.96 03:50:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,181928.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,181929.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.431747 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.431747 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.431747 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.431747 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181930.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.431747 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.431747 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.431747 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.809480 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.809480 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181931.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.809480 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.809480 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.809480 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.809480 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.809480 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,181932.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.809480 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.482895 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.482895 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.482895 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.482895 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181933.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 1.07 12.50 4.03 4.05 0 24779.47 03:50:08 m : DepthEnvelope -- Measured altitude 8.482895 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.482895 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.482895 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.871313 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.871313 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181934.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.871313 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.871313 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.871313 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.871313 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.871313 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181935.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.994553 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.35 0.79 11.81 3.94 4.06 0 9932.38 03:50:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.994553 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.994553 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.994553 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.994553 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181936.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.994553 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.994553 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.994553 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.334163 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.334163 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181937.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.334163 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.334163 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.49 1.68 13.18 4.02 4.05 0 15991.72 03:50:12 m : DepthEnvelope -- Measured altitude 6.334163 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.334163 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.334163 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181938.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.893842 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.893842 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : DepthEnvelope -- Measured altitude 5.893842 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.893842 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.893842 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,181939.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.893842 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.893842 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.389838 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.389838 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.389838 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181940.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.389838 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.389838 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.389838 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.389838 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.389838 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181941.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.284063 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.284063 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.284063 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.284063 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.284063 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181942.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.284063 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.284063 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.205985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.205985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.205985 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181943.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 0.81 12.59 4.03 4.05 0 24779.36 03:50:18 m : DepthEnvelope -- Measured altitude 5.205985 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.205985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.205985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.205985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.284694 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181944.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.284694 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.284694 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.284694 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.284694 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.284694 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181945.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.284694 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.39 0.75 11.91 3.96 4.07 0 9932.29 03:50:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.284694 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.486029 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.486029 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.486029 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,181946.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.486029 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.486029 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.486029 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.486029 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.784151 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181947.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.784151 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.784151 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.49 1.61 13.18 4.03 4.06 0 15991.63 03:50:22 m : DepthEnvelope -- Measured altitude 5.784151 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.784151 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.784151 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181948.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.784151 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.904690 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.006667 : DepthEnvelope -- Measured altitude 5.904690 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.904690 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.904690 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181949.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.904690 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.904690 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.904690 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.904690 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.171374 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181950.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.171374 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.171374 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.171374 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.171374 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.171374 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181951.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.171374 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.358105 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.358105 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.358105 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.358105 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181952.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.358105 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.358105 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.358105 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.446813 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.446813 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,181953.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 1.07 12.50 4.04 4.06 0 24779.27 03:50:28 m : DepthEnvelope -- Measured altitude 6.446813 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.446813 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.446813 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.446813 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.446813 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181954.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.446813 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.501321 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.501321 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.501321 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.501321 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181955.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.501321 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.35 1.12 11.81 3.96 4.07 0 9932.23 03:50:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.501321 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.501321 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.762518 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.762518 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181956.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.762518 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.762518 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.762518 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.762518 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.762518 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181957.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.762518 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.876242 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.49 1.21 13.18 4.03 4.06 0 15991.50 03:50:32 m : DepthEnvelope -- Measured altitude 6.876242 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.876242 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.876242 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181958.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.876242 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.876242 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.010000 : DepthEnvelope -- Measured altitude 6.876242 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.138677 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.138677 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181959.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.138677 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.138677 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.138677 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.138677 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.138677 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182000.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.265614 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.265614 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.265614 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.265614 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.265614 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182001.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.265614 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.265614 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.265614 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.349833 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.349833 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182002.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.349833 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.349833 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.349833 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.349833 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.349833 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182003.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 0.85 12.50 4.04 4.06 0 24779.14 03:50:38 m : DepthEnvelope -- Measured altitude 7.353803 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.353803 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.353803 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.353803 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.353803 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182004.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.353803 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.353803 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.303140 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.303140 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.303140 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182005.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.303140 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.35 0.86 11.81 3.96 4.07 0 9932.15 03:50:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.303140 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.303140 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.303140 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.303140 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182006.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.185330 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.185330 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.185330 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.185330 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.185330 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182007.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.185330 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.185330 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.49 1.29 13.08 4.04 4.07 0 15991.41 03:50:42 m : DepthEnvelope -- Measured altitude 7.212647 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.212647 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.212647 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182008.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.212647 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.212647 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.013333 : DepthEnvelope -- Measured altitude 7.212647 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.212647 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.366293 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182009.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.366293 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.366293 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.366293 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.366293 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.366293 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182010.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.366293 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.366293 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.438409 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.438409 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.438409 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182011.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.438409 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.438409 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.438409 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.438409 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.462079 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182012.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.462079 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.462079 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.462079 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.462079 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.462079 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182013.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 0.81 12.50 4.04 4.06 0 24779.08 03:50:48 m : DepthEnvelope -- Measured altitude 7.462079 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.462079 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.795788 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.795788 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.795788 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182014.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.795788 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.795788 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.795788 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.795788 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.865709 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182015.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.865709 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.39 0.79 11.81 3.96 4.07 0 9932.09 03:50:50 m : DepthEnvelope -- Measured altitude 7.865709 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.865709 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.865709 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.865709 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182016.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.865709 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.089065 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.089065 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.089065 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.089065 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182017.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.089065 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.089065 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.49 1.21 13.08 4.04 4.07 0 15991.27 03:50:52 m : DepthEnvelope -- Measured altitude 8.089065 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.089065 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.524092 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182018.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.524092 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.524092 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.013333 : DepthEnvelope -- Measured altitude 8.524092 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.524092 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.524092 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182019.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.524092 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.705855 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.705855 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.705855 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.705855 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182020.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.705855 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.705855 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.705855 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.951662 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.951662 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182021.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.951662 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.951662 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.951662 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.951662 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.951662 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182022.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.951662 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.135725 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.135725 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.135725 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.135725 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182023.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 0.81 12.50 4.04 4.06 0 24778.99 03:50:57 m : DepthEnvelope -- Measured altitude 9.135725 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.135725 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.135725 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.477323 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.477323 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182024.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.477323 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.477323 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.477323 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.477323 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.477323 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182025.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.529379 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.39 0.75 11.81 3.96 4.07 0 9932.01 03:51:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.529379 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.529379 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.529379 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.529379 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182026.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.529379 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.529379 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.529379 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.554531 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.554531 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182027.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.554531 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.554531 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.49 1.25 13.08 4.04 4.07 0 15991.18 03:51:02 m : DepthEnvelope -- Measured altitude 9.554531 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.554531 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.554531 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182028.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.748087 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.748087 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.013333 : DepthEnvelope -- Measured altitude 9.748087 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.748087 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.748087 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182029.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.748087 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.748087 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- altitude 10.104555 over abort altitude 10.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,182030.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182031.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182032.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182033.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 1.26 12.50 4.04 4.06 0 24778.93 03:51:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182034.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182035.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 2.13 11.91 3.96 4.07 0 9931.95 03:51:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182036.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182037.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 3.59 13.08 4.04 4.07 0 15990.95 03:51:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182038.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 4.013333 : AshtechGps::processRecord() - $GPGGA,182039.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182040.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion FireTheGulperAMC after pos 2 : DynoLayeredControl::insert - stack now contains 26 behaviors : The FireTheGulperAMC Behavior has executed. FIRING THE GULPER NOW. : LayeredControl::execute() -- (t = 8585.971821) Behavior FireTheGulperAMC:1725769 has changed to state Active : LayeredControl - FireTheGulperAMC BehaviorStarted:1725769 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,182041.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Gulper::fireGulper - cmd is $061Fff : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182042.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl::execute() -- (t = 8587.601709) Behavior FireTheGulperAMC:1725769 has changed to state Finished : LayeredControl - sending BehaviorFinished:1725769 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,182043.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 4.23 12.50 4.04 4.06 0 24778.63 03:51:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182044.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion FireTheGulperAMC after pos 2 : DynoLayeredControl::insert - stack now contains 27 behaviors : The FireTheGulperAMC Behavior has executed. FIRING THE GULPER NOW. : LayeredControl::execute() -- (t = 8589.951548) Behavior FireTheGulperAMC:1725738 has changed to state Active : LayeredControl - FireTheGulperAMC BehaviorStarted:1725738 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,182045.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.20 3.15 11.81 3.94 4.05 0 9931.65 03:51:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Gulper::fireGulper - cmd is $071Fff : AshtechGps::processRecord() - $GPGGA,182046.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl::execute() -- (t = 8591.601435) Behavior FireTheGulperAMC:1725738 has changed to state Finished : LayeredControl - sending BehaviorFinished:1725738 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,182047.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 3.70 13.08 4.02 4.05 0 15990.62 03:51:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182048.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182049.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182050.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182051.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182052.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182053.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.33 12.50 4.03 4.04 0 24778.37 03:51:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182054.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182055.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 2.28 11.81 3.94 4.05 0 9931.45 03:51:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182056.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182057.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.41 3.23 13.08 4.02 4.05 0 15990.21 03:51:32 m : AshtechGps::processRecord() - $GPGGA,182058.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182059.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182100.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182101.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182102.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182103.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.26 12.59 4.03 4.04 0 24778.05 03:51:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182104.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182105.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 2.17 11.81 3.94 4.06 0 9931.19 03:51:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182106.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182107.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 3.12 13.08 4.02 4.05 0 15989.96 03:51:42 m : AshtechGps::processRecord() - $GPGGA,182108.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182109.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182110.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182111.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182112.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182113.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.07 12.50 4.03 4.05 0 24777.85 03:51:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182114.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182115.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 2.13 11.81 3.94 4.06 0 9931.01 03:51:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182116.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182117.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 3.08 13.08 4.02 4.05 0 15989.55 03:51:52 m : AshtechGps::processRecord() - $GPGGA,182118.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,182119.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182120.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182121.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182122.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182123.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.07 12.50 4.03 4.05 0 24777.54 03:51:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182124.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182125.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.46 11.91 3.94 4.05 0 9930.74 03:52:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182126.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182127.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 3.19 13.08 4.02 4.05 0 15989.28 03:52:02 m : AshtechGps::processRecord() - $GPGGA,182128.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,182129.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182130.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182131.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182132.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182133.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 2.92 12.50 4.03 4.05 0 24777.31 03:52:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182134.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182135.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.28 2.13 11.81 3.94 4.05 0 9930.58 03:52:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182136.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182137.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 3.19 13.08 4.02 4.05 0 15988.92 03:52:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182138.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,182139.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182140.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182141.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182142.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182143.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.04 12.30 4.03 4.05 0 24777.01 03:52:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182144.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182145.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.17 11.81 3.94 4.06 0 9930.30 03:52:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182146.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182147.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 3.30 13.08 4.02 4.05 0 15988.67 03:52:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182148.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,182149.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182150.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182151.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182152.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182153.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.00 12.40 4.03 4.05 0 24776.74 03:52:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182154.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182155.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.10 11.91 3.94 4.06 0 9930.12 03:52:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182156.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182157.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 3.19 13.08 4.02 4.05 0 15988.30 03:52:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182158.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182159.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182200.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182201.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182202.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182203.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.00 12.40 4.03 4.05 0 24776.42 03:52:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182204.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182205.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.42 11.91 3.94 4.06 0 9929.87 03:52:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182206.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182207.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.37 3.12 13.08 4.02 4.05 0 15988.06 03:52:42 m : AshtechGps::processRecord() - $GPGGA,182208.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182209.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182210.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182211.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182212.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182213.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 4.60 12.40 4.03 4.05 0 24776.20 03:52:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182214.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182215.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.24 2.35 11.81 3.94 4.06 0 9929.68 03:52:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182216.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182217.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 3.48 13.08 4.02 4.05 0 15987.68 03:52:52 m : AshtechGps::processRecord() - $GPGGA,182218.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182219.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182220.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182221.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182222.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182223.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.22 12.30 4.03 4.05 0 24775.85 03:52:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182224.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182225.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.24 2.35 11.91 3.93 4.05 0 9929.41 03:53:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182226.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182227.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 3.23 13.08 4.01 4.05 0 15987.40 03:53:02 m : AshtechGps::processRecord() - $GPGGA,182228.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.990000 : AshtechGps::processRecord() - $GPGGA,182229.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182230.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182231.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182232.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182233.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.41 12.30 4.03 4.04 0 24775.59 03:53:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182234.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182235.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.24 2.35 11.91 3.93 4.05 0 9929.23 03:53:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182236.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182237.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 3.41 13.08 4.01 4.05 0 15987.00 03:53:12 m : AshtechGps::processRecord() - $GPGGA,182238.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.990000 : AshtechGps::processRecord() - $GPGGA,182239.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182240.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182241.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182242.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182243.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.37 12.30 4.03 4.04 0 24775.25 03:53:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182244.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182245.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.24 2.24 11.91 3.94 4.05 0 9928.96 03:53:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182246.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182247.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 3.41 13.08 4.02 4.05 0 15986.73 03:53:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182248.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,182249.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182250.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182251.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182252.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182253.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 3.19 12.50 4.03 4.04 0 24775.03 03:53:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182254.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182255.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.24 2.28 11.81 3.94 4.05 0 9928.78 03:53:30 m : AshtechGps::processRecord() - $GPGGA,182256.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182257.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 3.37 13.08 4.02 4.05 0 15986.32 03:53:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182258.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,182259.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182300.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182301.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182302.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182303.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 4.49 12.50 4.03 4.04 0 24774.69 03:53:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182304.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182305.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.20 2.71 11.81 3.93 4.05 0 9928.52 03:53:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182306.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182307.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 3.30 13.08 4.01 4.05 0 15986.05 03:53:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182308.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.990000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182309.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182310.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182311.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182312.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182313.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.19 12.50 4.03 4.04 0 24774.44 03:53:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182314.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182315.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.24 2.24 11.81 3.93 4.05 0 9928.33 03:53:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182316.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182317.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.37 3.26 13.08 4.01 4.05 0 15985.66 03:53:52 m : AshtechGps::processRecord() - $GPGGA,182318.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.990000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182319.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182320.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182321.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182322.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182323.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.11 12.50 4.03 4.04 0 24774.12 03:53:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182324.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182325.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.28 11.81 3.94 4.05 0 9928.03 03:54:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182326.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182327.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 3.26 13.08 4.02 4.05 0 15985.40 03:54:02 m : AshtechGps::processRecord() - $GPGGA,182328.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182329.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182330.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182331.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182332.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182333.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.22 12.50 4.03 4.04 0 24773.88 03:54:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182334.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182335.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.31 11.91 3.94 4.05 0 9927.85 03:54:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182336.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182337.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 3.26 13.18 4.02 4.05 0 15985.02 03:54:12 m : AshtechGps::processRecord() - $GPGGA,182338.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,182339.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182340.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182341.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182342.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182343.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 3.67 12.50 4.03 4.04 0 24773.56 03:54:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182344.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182345.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.35 11.81 3.93 4.05 0 9927.58 03:54:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182346.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182347.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 3.41 13.08 4.01 4.05 0 15984.75 03:54:22 m : AshtechGps::processRecord() - $GPGGA,182348.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.990000 : AshtechGps::processRecord() - $GPGGA,182349.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182350.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182351.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182352.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182353.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.15 12.59 4.03 4.04 0 24773.33 03:54:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182354.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182355.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.24 2.39 11.81 3.93 4.05 0 9927.40 03:54:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182356.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182357.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 3.44 13.18 4.01 4.05 0 15984.37 03:54:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182358.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.990000 : AshtechGps::processRecord() - $GPGGA,182359.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : DepthEnvelope -- Measured altitude 9.763637 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.763637 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182400.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.763637 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.763637 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.763637 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.763637 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.763637 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182401.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.186605 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.186605 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.186605 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.186605 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.186605 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182402.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.186605 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.186605 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.186605 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.914965 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.914965 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182403.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 1.51 12.50 4.03 4.04 0 24773.02 03:54:38 m : DepthEnvelope -- Measured altitude 8.914965 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.914965 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.914965 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.914965 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.914965 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182404.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.137421 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.137421 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.137421 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.137421 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.137421 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182405.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.137421 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.32 0.90 11.91 3.95 4.07 0 9927.19 03:54:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.137421 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.432867 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.432867 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.432867 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182406.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.432867 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.432867 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.432867 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.432867 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.432867 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182407.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.848099 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.848099 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.49 1.25 13.18 4.03 4.06 0 15984.19 03:54:42 m : DepthEnvelope -- Measured altitude 6.848099 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.848099 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.848099 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182408.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.848099 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.848099 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.003334 : DepthEnvelope -- Measured altitude 6.179614 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.179614 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.179614 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182409.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.179614 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.179614 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.179614 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.179614 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.737401 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182410.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.737401 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.737401 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.737401 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.737401 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.737401 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182411.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.737401 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.737401 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.582351 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.582351 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.582351 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182412.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.582351 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.582351 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.582351 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.582351 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.513432 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182413.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 1.00 12.50 4.04 4.05 0 24772.93 03:54:48 m : DepthEnvelope -- Measured altitude 5.513432 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.513432 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.513432 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.513432 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.513432 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182414.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.513432 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.675012 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.675012 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.675012 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.675012 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182415.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.675012 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.35 0.79 11.91 3.95 4.07 0 9927.12 03:54:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.675012 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.675012 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.675012 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.835640 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182416.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.835640 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.835640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.835640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.835640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.835640 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182417.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.835640 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.053511 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.49 1.43 13.18 4.03 4.06 0 15984.05 03:54:52 m : DepthEnvelope -- Measured altitude 6.053511 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.053511 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.053511 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182418.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.053511 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.053511 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : DepthEnvelope -- Measured altitude 6.053511 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.461021 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.461021 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182419.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.461021 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.461021 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.461021 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.461021 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.461021 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182420.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.461021 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.562491 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.562491 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.562491 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.562491 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182421.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.562491 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.562491 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.562491 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.641935 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.641935 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182422.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.641935 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.641935 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.641935 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.641935 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.641935 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182423.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 1.07 12.50 4.04 4.05 0 24772.81 03:54:58 m : DepthEnvelope -- Measured altitude 6.780459 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.780459 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.780459 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.780459 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.780459 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182424.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.780459 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.780459 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.780459 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.954586 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.954586 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182425.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.954586 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.32 1.08 11.91 3.95 4.07 0 9927.01 03:55:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.954586 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.954586 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.954586 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.954586 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182426.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.319707 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.319707 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.319707 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.319707 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.319707 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182427.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.319707 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.319707 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.49 1.21 13.18 4.03 4.06 0 15983.95 03:55:02 m : DepthEnvelope -- Measured altitude 7.464245 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.464245 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.464245 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182428.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.464245 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.464245 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : DepthEnvelope -- Measured altitude 7.464245 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.464245 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.464245 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182429.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.666497 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.666497 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.666497 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.666497 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.666497 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182430.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.666497 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.666497 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.771923 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.771923 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.771923 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182431.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.771923 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.771923 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.771923 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.771923 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.771923 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182432.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.774620 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.774620 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.774620 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.774620 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.774620 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182433.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 0.92 12.50 4.04 4.05 0 24772.72 03:55:08 m : DepthEnvelope -- Measured altitude 7.774620 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.774620 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.731092 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.731092 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.731092 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182434.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.731092 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.731092 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.731092 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.731092 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.639595 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182435.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.639595 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.35 0.83 11.81 3.95 4.07 0 9926.95 03:55:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.639595 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.639595 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.639595 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.639595 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182436.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.639595 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.639595 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.638423 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.638423 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.638423 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182437.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.638423 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.638423 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.49 1.25 13.18 4.03 4.06 0 15983.82 03:55:12 m : DepthEnvelope -- Measured altitude 7.638423 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.638423 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.681504 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182438.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.681504 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.681504 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : DepthEnvelope -- Measured altitude 7.681504 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.681504 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.681504 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182439.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.681504 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.687670 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.687670 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.687670 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.687670 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182440.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.687670 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.687670 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.687670 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.687670 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.895534 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182441.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.895534 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.895534 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.895534 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.895534 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.895534 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182442.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.895534 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.920976 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.920976 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.920976 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.920976 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182443.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 0.89 12.50 4.04 4.05 0 24772.63 03:55:17 m : DepthEnvelope -- Measured altitude 7.920976 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.920976 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.920976 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.203694 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.203694 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182444.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.203694 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.203694 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.203694 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.203694 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.203694 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182445.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.203694 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.35 0.83 11.91 3.95 4.07 0 9926.86 03:55:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.532662 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.532662 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.532662 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.532662 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182446.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.532662 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.532662 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.532662 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.652757 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.652757 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182447.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.652757 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.652757 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.49 1.25 13.08 4.03 4.06 0 15983.72 03:55:22 m : DepthEnvelope -- Measured altitude 8.652757 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.652757 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.652757 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182448.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.010294 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.010294 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : DepthEnvelope -- Measured altitude 9.010294 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.010294 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.010294 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182449.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.010294 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.010294 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.010294 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.174678 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.174678 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182450.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.174678 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.174678 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.174678 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.174678 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.174678 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182451.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.292449 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.292449 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.292449 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.292449 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.292449 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182452.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.292449 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.292449 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.292449 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.601119 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.601119 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182453.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 0.85 12.50 4.04 4.06 0 24772.57 03:55:28 m : DepthEnvelope -- Measured altitude 9.601119 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.601119 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.601119 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.601119 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.601119 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182454.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.631172 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.631172 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.631172 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.631172 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.631172 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182455.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.631172 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.35 0.75 11.91 3.95 4.07 0 9926.80 03:55:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.631172 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.644901 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.644901 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.644901 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182456.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.644901 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.644901 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.644901 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.644901 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.644901 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182457.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 10.017488 over abort altitude 10.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.49 1.25 13.08 4.03 4.06 0 15983.59 03:55:32 m : AshtechGps::processRecord() - $GPGGA,182458.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,182459.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182500.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182501.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182502.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182503.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 2.96 12.50 4.04 4.06 0 24772.43 03:55:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182504.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182505.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.24 2.67 11.81 3.94 4.05 0 9926.64 03:55:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182506.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182507.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 4.20 13.08 4.02 4.05 0 15983.38 03:55:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182508.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : AshtechGps::processRecord() - $GPGGA,182509.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182510.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182511.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182512.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182513.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.82 12.50 4.03 4.04 0 24772.18 03:55:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182514.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182515.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.71 11.81 3.94 4.05 0 9926.44 03:55:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182516.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182517.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 4.92 13.08 4.02 4.05 0 15982.98 03:55:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182518.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,182519.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182520.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182521.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182522.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182523.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.07 12.59 4.03 4.04 0 24771.81 03:55:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182524.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182525.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.50 11.81 3.94 4.06 0 9926.19 03:56:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182526.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182527.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 3.37 13.08 4.02 4.05 0 15982.74 03:56:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182528.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182529.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182530.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182531.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182532.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182533.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 3.07 12.50 4.03 4.04 0 24771.58 03:56:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182534.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182535.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.67 11.91 3.94 4.06 0 9926.03 03:56:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182536.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182537.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.37 3.70 13.08 4.02 4.05 0 15982.36 03:56:12 m : AshtechGps::processRecord() - $GPGGA,182538.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182539.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182540.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182541.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182542.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182543.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 3.19 12.50 4.03 4.04 0 24771.25 03:56:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182544.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182545.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.50 11.81 3.94 4.06 0 9925.79 03:56:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182546.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182547.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 3.34 13.08 4.02 4.05 0 15982.14 03:56:22 m : AshtechGps::processRecord() - $GPGGA,182548.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182549.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182550.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182551.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182552.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182553.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.07 12.50 4.03 4.04 0 24771.03 03:56:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182554.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182555.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.20 2.67 11.91 3.94 4.06 0 9925.64 03:56:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182556.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182557.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 3.48 13.08 4.02 4.05 0 15981.80 03:56:32 m : AshtechGps::processRecord() - $GPGGA,182558.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,182559.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182600.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182601.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182602.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182603.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 2.92 12.40 4.03 4.04 0 24770.69 03:56:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182604.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182605.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.16 3.62 11.91 3.94 4.06 0 9925.41 03:56:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182606.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182607.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.62 13.08 4.02 4.05 0 15981.58 03:56:42 m : AshtechGps::processRecord() - $GPGGA,182608.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,182609.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182610.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182611.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182612.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182613.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 3.00 12.40 4.02 4.04 0 24770.47 03:56:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182614.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182615.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.24 2.46 11.81 3.94 4.06 0 9925.26 03:56:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182616.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182617.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 3.55 13.08 4.02 4.05 0 15981.21 03:56:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182618.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.993333 : AshtechGps::processRecord() - $GPGGA,182619.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182620.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182621.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182622.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182623.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.04 12.50 4.02 4.04 0 24770.13 03:56:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182624.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182625.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.20 2.67 11.91 3.94 4.05 0 9925.03 03:57:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182626.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182627.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.77 13.08 4.02 4.05 0 15980.99 03:57:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182628.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.993333 : AshtechGps::processRecord() - $GPGGA,182629.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182630.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182631.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182632.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182633.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.11 12.40 4.02 4.04 0 24769.90 03:57:08 m : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182634.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182635.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.39 11.81 3.94 4.05 0 9924.86 03:57:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182636.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182637.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 3.48 13.08 4.02 4.05 0 15980.62 03:57:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182638.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.993333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182639.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182640.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182641.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182642.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182643.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.22 12.40 4.02 4.04 0 24769.51 03:57:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182644.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182645.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.20 3.29 11.91 3.94 4.05 0 9924.62 03:57:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182646.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182647.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.33 3.84 12.98 4.01 4.04 0 15980.38 03:57:22 m : AshtechGps::processRecord() - $GPGGA,182648.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.990000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182649.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182650.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182651.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182652.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182653.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 3.33 12.50 4.02 4.04 0 24769.28 03:57:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182654.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182655.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.12 3.76 11.91 3.94 4.05 0 9924.46 03:57:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182656.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182657.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.84 13.08 4.01 4.04 0 15980.02 03:57:32 m : AshtechGps::processRecord() - $GPGGA,182658.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.990000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182659.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182700.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182701.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182702.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182703.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 3.37 12.30 4.02 4.04 0 24768.92 03:57:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182704.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182705.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.20 2.64 11.81 3.93 4.05 0 9924.15 03:57:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182706.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182707.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.55 13.08 4.01 4.05 0 15979.77 03:57:42 m : AshtechGps::processRecord() - $GPGGA,182708.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,182709.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182710.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182711.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182712.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182713.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.19 12.50 4.02 4.04 0 24768.68 03:57:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182714.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182715.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.35 11.81 3.93 4.05 0 9923.99 03:57:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182716.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182717.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.59 13.08 4.01 4.05 0 15979.41 03:57:52 m : AshtechGps::processRecord() - $GPGGA,182718.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,182719.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182720.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182721.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182722.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182723.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 3.37 12.50 4.02 4.04 0 24768.34 03:57:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182724.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182725.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.20 2.78 11.91 3.93 4.05 0 9923.74 03:58:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182726.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182727.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.62 13.08 4.01 4.05 0 15979.17 03:58:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182728.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,182729.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182730.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182731.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182732.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182733.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 3.07 12.50 4.02 4.04 0 24768.09 03:58:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182734.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182735.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.20 2.96 11.81 3.93 4.05 0 9923.56 03:58:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182736.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182737.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.62 13.08 4.01 4.05 0 15978.81 03:58:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182738.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,182739.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182740.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182741.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182742.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182743.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.30 12.59 4.02 4.04 0 24767.73 03:58:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182744.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182745.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.20 2.57 11.81 3.93 4.05 0 9923.30 03:58:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182746.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182747.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.55 13.08 4.01 4.05 0 15978.53 03:58:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182748.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182749.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182750.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182751.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182752.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182753.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.11 12.59 4.02 4.04 0 24767.52 03:58:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182754.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182755.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.20 2.42 11.81 3.93 4.05 0 9923.14 03:58:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182756.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182757.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.33 3.73 13.18 4.01 4.05 0 15978.16 03:58:32 m : AshtechGps::processRecord() - $GPGGA,182758.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182759.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182800.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182801.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182802.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182803.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.11 12.50 4.02 4.04 0 24767.19 03:58:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182804.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182805.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.35 11.81 3.93 4.05 0 9922.89 03:58:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182806.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182807.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.84 13.08 4.01 4.05 0 15977.92 03:58:42 m : AshtechGps::processRecord() - $GPGGA,182808.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182809.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182810.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182811.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182812.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182813.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 3.37 12.50 4.02 4.04 0 24766.95 03:58:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182814.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182815.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.20 2.78 11.91 3.93 4.05 0 9922.72 03:58:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182816.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182817.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.73 13.08 4.01 4.05 0 15977.54 03:58:52 m : AshtechGps::processRecord() - $GPGGA,182818.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,182819.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : DepthEnvelope -- Measured altitude 9.540255 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182820.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.540255 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.540255 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.540255 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.540255 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.540255 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182821.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.540255 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.813789 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.813789 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.813789 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.813789 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182822.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.813789 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.813789 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.813789 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.438787 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.438787 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182823.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 2.41 12.59 4.02 4.04 0 24766.58 03:58:58 m : DepthEnvelope -- Measured altitude 8.438787 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.438787 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.438787 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.438787 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.438787 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182824.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.438787 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.021221 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.021221 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.021221 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.021221 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182825.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.021221 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.32 0.86 11.81 3.95 4.06 0 9922.52 03:59:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.021221 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.021221 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.249495 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.249495 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182826.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.249495 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.249495 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.249495 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.249495 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.249495 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182827.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.341372 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.341372 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.45 1.65 13.18 4.03 4.06 0 15977.35 03:59:02 m : DepthEnvelope -- Measured altitude 6.341372 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.341372 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.341372 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182828.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.341372 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.341372 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.000000 : DepthEnvelope -- Measured altitude 6.341372 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.805940 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.805940 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182829.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.805940 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.805940 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.805940 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.805940 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.805940 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182830.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.402282 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.402282 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.402282 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.402282 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.402282 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182831.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.402282 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.402282 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.307241 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.307241 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.307241 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182832.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.307241 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.307241 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.307241 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.307241 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.307241 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182833.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 0.92 12.59 4.03 4.05 0 24766.52 03:59:08 m : DepthEnvelope -- Measured altitude 5.168947 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.168947 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.168947 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.168947 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.168947 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182834.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.168947 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.168947 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.031571 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.031571 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.031571 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182835.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.031571 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.28 1.08 11.81 3.95 4.06 0 9922.44 03:59:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.031571 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.031571 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.031571 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.250429 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182836.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.250429 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.250429 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.250429 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.250429 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.250429 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182837.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.250429 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.250429 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.49 1.21 13.18 4.03 4.06 0 15977.18 03:59:12 m : DepthEnvelope -- Measured altitude 5.601206 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.601206 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.601206 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182838.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.601206 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.601206 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.003334 : DepthEnvelope -- Measured altitude 5.601206 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.601206 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.766464 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182839.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.766464 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.766464 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.766464 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.766464 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.766464 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182840.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.766464 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.972699 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.972699 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.972699 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.972699 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182841.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.972699 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.972699 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.972699 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.972699 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.128665 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182842.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.128665 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.128665 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.128665 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.128665 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.128665 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182843.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 1.07 12.59 4.03 4.05 0 24766.42 03:59:18 m : DepthEnvelope -- Measured altitude 6.128665 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.237206 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.237206 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.237206 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.237206 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182844.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.237206 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.237206 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.237206 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.422371 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.422371 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182845.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.422371 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.32 0.79 11.91 3.95 4.07 0 9922.33 03:59:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.422371 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.422371 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.422371 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.422371 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182846.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.422371 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.610769 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.610769 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.610769 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.610769 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182847.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.610769 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.610769 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.45 1.39 13.18 4.03 4.06 0 15977.07 03:59:22 m : DepthEnvelope -- Measured altitude 6.610769 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.754841 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.754841 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182848.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.754841 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.754841 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.003334 : DepthEnvelope -- Measured altitude 6.754841 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.754841 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.754841 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182849.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.754841 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.981027 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.981027 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.981027 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.981027 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182850.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.981027 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.981027 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.981027 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.088082 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.088082 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182851.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.088082 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.088082 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.088082 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.088082 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.088082 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182852.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.224417 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.224417 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.224417 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.224417 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.224417 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182853.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 0.85 12.50 4.04 4.05 0 24766.36 03:59:28 m : DepthEnvelope -- Measured altitude 7.224417 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.224417 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.224417 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.099305 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.099305 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182854.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.099305 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.099305 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.099305 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.099305 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.099305 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182855.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.061073 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.35 0.75 11.81 3.95 4.07 0 9922.25 03:59:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.061073 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.061073 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.061073 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.061073 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182856.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.061073 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.061073 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.873140 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.873140 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.873140 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182857.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.873140 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.873140 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.49 1.21 13.18 4.03 4.06 0 15976.92 03:59:32 m : DepthEnvelope -- Measured altitude 6.873140 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.873140 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.873140 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182858.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.868302 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.868302 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : DepthEnvelope -- Measured altitude 6.868302 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.868302 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.868302 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182859.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.868302 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.868302 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.971045 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.971045 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.971045 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182900.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.971045 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.971045 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.971045 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.971045 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.015956 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182901.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.015956 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.015956 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.015956 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.015956 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.015956 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182902.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.015956 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.015956 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.112544 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.112544 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.112544 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182903.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 0.85 12.50 4.04 4.05 0 24766.27 03:59:38 m : DepthEnvelope -- Measured altitude 7.112544 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.112544 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.112544 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.112544 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.422690 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182904.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.422690 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.422690 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.422690 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.422690 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.422690 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182905.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.422690 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.32 1.08 11.81 3.95 4.07 0 9922.17 03:59:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.714000 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.714000 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.714000 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.714000 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182906.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.714000 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.714000 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.714000 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.714000 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.981430 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182907.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.981430 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.981430 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.49 1.21 13.08 4.03 4.06 0 15976.83 03:59:42 m : DepthEnvelope -- Measured altitude 7.981430 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.981430 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.981430 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182908.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.981430 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.275898 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : DepthEnvelope -- Measured altitude 8.275898 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.275898 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.275898 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182909.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.275898 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.275898 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.275898 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.275898 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.560694 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182910.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.560694 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.560694 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.560694 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.560694 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.560694 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182911.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.560694 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.641994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.641994 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.641994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.641994 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182912.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.641994 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.641994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.641994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.878303 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.878303 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182913.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 0.85 12.50 4.04 4.05 0 24766.21 03:59:48 m : DepthEnvelope -- Measured altitude 8.878303 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.878303 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.878303 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.878303 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.878303 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182914.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.878303 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.042682 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.042682 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.042682 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.042682 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182915.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.042682 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.32 0.83 11.81 3.95 4.07 0 9922.11 03:59:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.042682 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.042682 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.199481 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.199481 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182916.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.199481 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.199481 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.199481 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.199481 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.199481 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182917.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.367131 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.367131 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.49 1.21 13.18 4.03 4.06 0 15976.70 03:59:52 m : DepthEnvelope -- Measured altitude 9.367131 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.367131 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.367131 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182918.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.367131 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.367131 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : DepthEnvelope -- Measured altitude 9.367131 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.482445 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.482445 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182919.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.482445 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.482445 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.482445 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.482445 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.482445 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182920.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.739716 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.739716 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.739716 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.739716 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.739716 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182921.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.739716 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.739716 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- altitude 10.048036 over abort altitude 10.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,182922.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182923.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 0.92 12.50 4.04 4.05 0 24766.12 03:59:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182924.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182925.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 1.44 11.91 3.95 4.07 0 9922.02 04:00:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182926.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182927.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 3.19 13.08 4.03 4.06 0 15976.59 04:00:02 m : AshtechGps::processRecord() - $GPGGA,182928.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,182929.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182930.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182931.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182932.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182933.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.44 12.50 4.03 4.05 0 24765.95 04:00:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182934.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182935.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.20 2.82 11.91 3.95 4.07 0 9921.84 04:00:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182936.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182937.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 4.06 13.08 4.03 4.06 0 15976.17 04:00:12 m : AshtechGps::processRecord() - $GPGGA,182938.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,182939.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182940.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182941.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182942.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182943.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 3.52 12.59 4.03 4.05 0 24765.59 04:00:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182944.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182945.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.20 2.53 11.91 3.93 4.05 0 9921.53 04:00:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182946.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182947.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.77 13.08 4.01 4.04 0 15975.88 04:00:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182948.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.990000 : AshtechGps::processRecord() - $GPGGA,182949.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182950.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182951.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182952.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182953.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.00 12.50 4.02 4.04 0 24765.38 04:00:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182954.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182955.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.24 11.91 3.93 4.05 0 9921.35 04:00:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182956.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182957.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.30 13.08 4.01 4.04 0 15975.48 04:00:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182958.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,182959.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183000.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183001.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183002.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183003.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 2.70 12.50 4.02 4.04 0 24765.08 04:00:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183004.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183005.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.17 11.81 3.93 4.05 0 9921.08 04:00:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183006.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183007.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.26 13.08 4.01 4.05 0 15975.18 04:00:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183008.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183009.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183010.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183011.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183012.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183013.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 2.70 12.50 4.03 4.04 0 24764.88 04:00:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183014.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183015.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.24 11.91 3.93 4.05 0 9920.91 04:00:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183016.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183017.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.33 3.59 13.08 4.01 4.05 0 15974.82 04:00:52 m : AshtechGps::processRecord() - $GPGGA,183018.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.990000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183019.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183020.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183021.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183022.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183023.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 2.55 12.50 4.03 4.04 0 24764.60 04:00:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183024.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183025.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.10 11.91 3.93 4.05 0 9920.65 04:01:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183026.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183027.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.48 13.08 4.01 4.05 0 15974.57 04:01:02 m : AshtechGps::processRecord() - $GPGGA,183028.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.990000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183029.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183030.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183031.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183032.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183033.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.11 12.40 4.03 4.04 0 24764.41 04:01:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183034.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183035.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 2.13 11.81 3.93 4.05 0 9920.48 04:01:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183036.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183037.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.44 13.08 4.01 4.05 0 15974.20 04:01:12 m : AshtechGps::processRecord() - $GPGGA,183038.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.990000 : AshtechGps::processRecord() - $GPGGA,183039.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183040.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183041.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183042.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183043.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.26 12.50 4.03 4.04 0 24764.10 04:01:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183044.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183045.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.20 2.35 11.91 3.93 4.05 0 9920.22 04:01:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183046.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183047.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.26 5.06 13.08 4.01 4.05 0 15973.93 04:01:22 m : AshtechGps::processRecord() - $GPGGA,183048.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.990000 : AshtechGps::processRecord() - $GPGGA,183049.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183050.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183051.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183052.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,183053.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 2.85 12.30 4.02 4.04 0 24763.90 04:01:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183054.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183055.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.24 2.13 11.91 3.93 4.05 0 9920.03 04:01:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183056.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183057.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.59 13.08 4.01 4.05 0 15973.55 04:01:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183058.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,183059.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183100.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183101.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183102.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183103.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 2.92 12.40 4.02 4.04 0 24763.60 04:01:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183104.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183105.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.20 2.28 11.91 3.93 4.05 0 9919.73 04:01:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183106.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183107.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.80 13.08 4.01 4.04 0 15973.28 04:01:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183108.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,183109.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183110.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183111.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183112.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183113.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.30 12.40 4.02 4.04 0 24763.38 04:01:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183114.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183115.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.20 2.42 11.91 3.93 4.05 0 9919.54 04:01:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183116.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183117.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.30 4.16 13.08 4.01 4.04 0 15972.85 04:01:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183118.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183119.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183120.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183121.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183122.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183123.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.15 12.50 4.02 4.04 0 24763.02 04:01:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183124.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183125.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.20 2.42 11.91 3.93 4.05 0 9919.24 04:02:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183126.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183127.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.30 4.06 13.08 4.01 4.04 0 15972.58 04:02:02 m : AshtechGps::processRecord() - $GPGGA,183128.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183129.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183130.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183131.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183132.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183133.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.26 12.50 4.02 4.04 0 24762.80 04:02:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183134.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183135.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.20 2.31 11.81 3.93 4.05 0 9919.05 04:02:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183136.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183137.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.30 5.10 13.08 4.01 4.04 0 15972.18 04:02:12 m : AshtechGps::processRecord() - $GPGGA,183138.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183139.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183140.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183141.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183142.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183143.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 2.96 12.50 4.02 4.04 0 24762.49 04:02:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183144.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183145.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.20 2.28 11.81 3.92 4.05 0 9918.76 04:02:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183146.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183147.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.73 13.08 4.01 4.04 0 15971.91 04:02:22 m : AshtechGps::processRecord() - $GPGGA,183148.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.983334 : AshtechGps::processRecord() - $GPGGA,183149.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183150.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183151.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183152.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183153.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 2.82 12.50 4.02 4.04 0 24762.28 04:02:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183154.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183155.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.20 2.28 11.91 3.92 4.05 0 9918.57 04:02:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183156.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183157.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.48 13.08 4.01 4.04 0 15971.52 04:02:32 m : AshtechGps::processRecord() - $GPGGA,183158.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.983334 : AshtechGps::processRecord() - $GPGGA,183159.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183200.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183201.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183202.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183203.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 3.52 12.59 4.02 4.04 0 24761.96 04:02:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183204.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183205.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.20 2.35 11.91 3.93 4.05 0 9918.30 04:02:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183206.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183207.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.55 13.08 4.01 4.04 0 15971.26 04:02:42 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183208.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,183209.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183210.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183211.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183212.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183213.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 3.07 12.50 4.02 4.03 0 24761.75 04:02:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183214.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183215.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.20 2.46 11.91 3.93 4.05 0 9918.10 04:02:50 m : AshtechGps::processRecord() - $GPGGA,183216.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183217.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.66 13.08 4.01 4.04 0 15970.85 04:02:52 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183218.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,183219.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183220.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183221.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183222.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183223.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 2.92 12.50 4.02 4.03 0 24761.44 04:02:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183224.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183225.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.20 2.35 11.81 3.93 4.05 0 9917.81 04:03:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183226.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183227.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.30 3.84 13.08 4.01 4.04 0 15970.59 04:03:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183228.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183229.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183230.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183231.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183232.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183233.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 2.89 12.50 4.02 4.04 0 24761.23 04:03:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183234.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.755353 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.755353 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.755353 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.755353 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.755353 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183235.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.755353 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.20 2.21 11.91 3.93 4.05 0 9917.63 04:03:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.755353 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.019573 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.019573 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.019573 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183236.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.019573 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.019573 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.019573 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.019573 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.396315 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183237.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.396315 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.396315 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.33 3.55 13.08 4.01 4.04 0 15970.20 04:03:12 m : DepthEnvelope -- Measured altitude 8.396315 under allowable altitude 10.000000. Stopping! : Isus::select() timeout : DepthEnvelope -- Measured altitude 8.396315 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.396315 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183238.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.396315 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.396315 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : DepthEnvelope -- Measured altitude 7.870702 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.870702 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.870702 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183239.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.870702 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.870702 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.870702 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.870702 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.121305 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183240.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.121305 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.121305 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.121305 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.121305 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.121305 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183241.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.121305 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.392677 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.392677 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.392677 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.392677 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183242.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.392677 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.392677 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.392677 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.392677 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.778155 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183243.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 1.03 12.59 4.02 4.04 0 24760.98 04:03:18 m : DepthEnvelope -- Measured altitude 5.778155 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.778155 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.778155 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.778155 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.778155 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183244.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.778155 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.557008 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.557008 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.557008 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.557008 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183245.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.557008 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.32 0.79 11.91 3.94 4.06 0 9917.47 04:03:20 m : DepthEnvelope -- Measured altitude 5.557008 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.557008 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.557008 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.352419 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183246.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.352419 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.352419 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.352419 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.352419 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.352419 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183247.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.352419 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.432585 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.45 1.36 13.08 4.02 4.05 0 15970.08 04:03:22 m : DepthEnvelope -- Measured altitude 5.432585 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.432585 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.432585 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183248.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.432585 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.432585 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.993333 : DepthEnvelope -- Measured altitude 5.432585 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.534960 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.534960 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183249.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.534960 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.534960 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.534960 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.534960 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.534960 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183250.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.534960 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.731720 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.731720 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.731720 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.731720 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183251.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.731720 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.731720 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.731720 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.107850 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.107850 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183252.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.107850 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.107850 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.107850 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.107850 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.107850 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183253.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 1.14 12.50 4.03 4.05 0 24760.90 04:03:27 m : DepthEnvelope -- Measured altitude 6.397541 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.397541 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.397541 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.397541 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.397541 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183254.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.397541 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.397541 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.397541 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.534842 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.534842 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183255.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.534842 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.28 0.97 11.91 3.94 4.06 0 9917.40 04:03:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.534842 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.534842 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.534842 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.534842 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183256.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.690455 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.690455 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.690455 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.690455 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.690455 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183257.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.690455 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.690455 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.45 1.21 13.08 4.02 4.05 0 15969.90 04:03:32 m : DepthEnvelope -- Measured altitude 6.748850 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.748850 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.748850 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183258.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.748850 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.748850 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : DepthEnvelope -- Measured altitude 6.748850 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.748850 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.748850 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183259.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.920578 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.920578 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.920578 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.920578 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.920578 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183300.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.920578 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.920578 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.297446 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.297446 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.297446 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183301.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.297446 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.297446 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.297446 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.297446 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.522671 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183302.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.522671 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.522671 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.522671 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.522671 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.522671 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183303.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 0.89 12.59 4.03 4.05 0 24760.80 04:03:37 m : DepthEnvelope -- Measured altitude 7.522671 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.522671 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.743839 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.743839 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.743839 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183304.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.743839 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.743839 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.743839 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.743839 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.714882 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183305.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.714882 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.32 0.79 11.91 3.94 4.06 0 9917.29 04:03:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.714882 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.714882 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.714882 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.714882 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183306.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.714882 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.714882 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.532404 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.532404 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.532404 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183307.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.532404 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.532404 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.41 1.43 13.08 4.03 4.05 0 15969.78 04:03:42 m : DepthEnvelope -- Measured altitude 7.532404 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.532404 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.573148 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183308.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.573148 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.573148 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : DepthEnvelope -- Measured altitude 7.573148 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.573148 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.573148 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183309.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.573148 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.613069 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.613069 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.613069 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.613069 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183310.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.613069 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.613069 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.613069 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.613069 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.538396 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183311.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.538396 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.538396 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.538396 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.538396 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.538396 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183312.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.538396 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.538187 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.538187 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.538187 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.538187 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183313.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 0.89 12.50 4.03 4.05 0 24760.74 04:03:48 m : DepthEnvelope -- Measured altitude 7.538187 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.538187 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.538187 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.578512 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.578512 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183314.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.578512 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.578512 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.578512 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.578512 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.578512 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183315.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.578512 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.32 0.83 11.81 3.94 4.06 0 9917.23 04:03:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.803970 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.803970 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.803970 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.803970 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183316.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.803970 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.803970 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.803970 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.838706 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.838706 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183317.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.838706 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.838706 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.45 1.25 13.08 4.03 4.05 0 15969.64 04:03:52 m : DepthEnvelope -- Measured altitude 7.838706 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.838706 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.838706 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183318.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.081077 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.081077 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : DepthEnvelope -- Measured altitude 8.081077 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.081077 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.081077 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183319.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.081077 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.081077 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.081077 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.430812 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.430812 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183320.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.430812 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.430812 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.430812 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.430812 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.430812 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183321.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.579706 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.579706 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.579706 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.579706 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.579706 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183322.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.579706 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.579706 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.750750 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.750750 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.750750 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183323.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 0.85 12.50 4.03 4.05 0 24760.65 04:03:58 m : DepthEnvelope -- Measured altitude 8.750750 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.750750 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.750750 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.750750 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.750750 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183324.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.003249 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.003249 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.003249 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.003249 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.003249 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183325.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.003249 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.32 0.79 11.91 3.95 4.07 0 9917.14 04:04:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.003249 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.192341 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.192341 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.192341 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183326.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.192341 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.192341 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.192341 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.192341 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.449056 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183327.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.449056 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.449056 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.45 1.25 13.08 4.03 4.06 0 15969.55 04:04:02 m : DepthEnvelope -- Measured altitude 9.449056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.449056 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.449056 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183328.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.449056 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.449056 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.003334 : DepthEnvelope -- Measured altitude 9.519036 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.519036 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.519036 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183329.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.519036 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.519036 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.519036 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.519036 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.538126 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183330.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.538126 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.538126 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.538126 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.538126 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.538126 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183331.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.538126 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.728679 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.728679 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.728679 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.728679 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183332.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.728679 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.728679 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.728679 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.728679 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.790668 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183333.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 0.89 12.59 4.03 4.05 0 24760.59 04:04:08 m : DepthEnvelope -- Measured altitude 9.790668 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.790668 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.790668 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.790668 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.790668 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183334.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.790668 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.993899 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.993899 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.993899 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.993899 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183335.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.993899 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.32 0.83 11.91 3.95 4.07 0 9917.09 04:04:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.993899 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.993899 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.993899 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.300948 over abort altitude 10.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,183336.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183337.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 1.25 13.08 4.03 4.06 0 15969.41 04:04:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183338.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.003334 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183339.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183340.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183341.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183342.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183343.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 3.19 12.50 4.03 4.05 0 24760.43 04:04:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183344.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183345.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.20 2.64 11.81 3.93 4.05 0 9916.89 04:04:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183346.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183347.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.30 4.13 13.08 4.01 4.04 0 15969.17 04:04:22 m : AshtechGps::processRecord() - $GPGGA,183348.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.990000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183349.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183350.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183351.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183352.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183353.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 3.56 12.50 4.02 4.04 0 24760.18 04:04:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183354.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183355.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.16 2.71 11.81 3.93 4.05 0 9916.68 04:04:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183356.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183357.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 4.20 13.08 4.01 4.04 0 15968.73 04:04:32 m : AshtechGps::processRecord() - $GPGGA,183358.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183359.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183400.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183401.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183402.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183403.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 3.52 12.50 4.02 4.04 0 24759.80 04:04:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183404.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183405.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.20 2.50 11.81 3.93 4.05 0 9916.41 04:04:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183406.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183407.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.34 13.08 4.01 4.04 0 15968.47 04:04:42 m : AshtechGps::processRecord() - $GPGGA,183408.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,183409.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183410.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183411.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183412.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183413.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 3.48 12.50 4.02 4.04 0 24759.58 04:04:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183414.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183415.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.20 2.35 11.91 3.93 4.05 0 9916.24 04:04:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183416.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183417.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.30 13.08 4.01 4.04 0 15968.09 04:04:52 m : AshtechGps::processRecord() - $GPGGA,183418.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,183419.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183420.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183421.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183422.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183423.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 3.30 12.59 4.02 4.04 0 24759.21 04:04:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183424.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183425.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.16 2.57 11.91 3.93 4.05 0 9915.99 04:05:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183426.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183427.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.55 13.08 4.01 4.04 0 15967.84 04:05:02 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183428.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,183429.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183430.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183431.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183432.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183433.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 3.11 12.59 4.02 4.04 0 24759.00 04:05:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183434.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183435.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.16 2.64 11.91 3.93 4.05 0 9915.83 04:05:10 m : AshtechGps::processRecord() - $GPGGA,183436.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183437.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.16 13.08 4.01 4.04 0 15967.47 04:05:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183438.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,183439.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183440.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183441.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183442.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183443.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.44 12.50 4.02 4.04 0 24758.65 04:05:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183444.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183445.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.20 2.50 11.91 3.93 4.05 0 9915.53 04:05:20 m : AshtechGps::processRecord() - $GPGGA,183446.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183447.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.08 13.08 4.01 4.04 0 15967.21 04:05:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183448.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183449.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183450.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183451.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183452.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183453.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 3.19 12.50 4.02 4.04 0 24758.42 04:05:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183454.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183455.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.20 2.39 11.91 3.93 4.05 0 9915.38 04:05:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183456.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183457.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.33 3.30 13.08 4.01 4.04 0 15966.84 04:05:32 m : AshtechGps::processRecord() - $GPGGA,183458.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183459.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183500.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183501.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183502.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183503.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 3.30 12.40 4.02 4.04 0 24758.08 04:05:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183504.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183505.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.20 2.35 11.91 3.93 4.05 0 9915.12 04:05:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183506.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183507.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.26 12.98 4.01 4.04 0 15966.60 04:05:42 m : AshtechGps::processRecord() - $GPGGA,183508.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183509.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183510.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183511.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183512.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183513.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.26 12.40 4.02 4.03 0 24757.85 04:05:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183514.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183515.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.16 2.50 11.91 3.93 4.05 0 9914.95 04:05:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183516.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183517.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.37 12.98 4.01 4.04 0 15966.22 04:05:52 m : AshtechGps::processRecord() - $GPGGA,183518.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,183519.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183520.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183521.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183522.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183523.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 3.26 12.40 4.02 4.03 0 24757.50 04:05:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183524.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183525.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.16 3.58 11.91 3.93 4.05 0 9914.66 04:06:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183526.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183527.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.62 13.08 4.01 4.04 0 15965.90 04:06:02 m : AshtechGps::processRecord() - $GPGGA,183528.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,183529.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183530.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183531.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183532.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183533.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 3.71 12.50 4.02 4.03 0 24757.26 04:06:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183534.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183535.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.16 2.71 11.81 3.93 4.05 0 9914.48 04:06:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183536.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183537.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.37 13.08 4.01 4.04 0 15965.50 04:06:12 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183538.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,183539.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183540.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183541.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183542.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183543.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 3.59 12.40 4.02 4.03 0 24756.89 04:06:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183544.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183545.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.16 2.42 11.91 3.93 4.05 0 9914.21 04:06:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183546.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183547.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.37 13.08 4.01 4.04 0 15965.23 04:06:22 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183548.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,183549.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183550.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183551.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183552.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183553.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 3.48 12.40 4.02 4.03 0 24756.66 04:06:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183554.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183555.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.12 2.86 11.91 3.93 4.05 0 9914.04 04:06:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183556.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183557.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.84 13.08 4.01 4.04 0 15964.82 04:06:32 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183558.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183559.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183600.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183601.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183602.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183603.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 3.33 12.50 4.02 4.03 0 24756.30 04:06:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183604.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183605.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.16 2.60 11.91 3.93 4.05 0 9913.76 04:06:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183606.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183607.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.30 3.66 13.08 4.01 4.04 0 15964.56 04:06:42 m : AshtechGps::processRecord() - $GPGGA,183608.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183609.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183610.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183611.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183612.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183613.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 3.71 12.50 4.02 4.03 0 24756.05 04:06:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183614.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183615.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.16 2.75 11.91 3.93 4.05 0 9913.58 04:06:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183616.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183617.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.26 13.08 4.01 4.04 0 15964.16 04:06:52 m : AshtechGps::processRecord() - $GPGGA,183618.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183619.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183620.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183621.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183622.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183623.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 3.75 12.50 4.02 4.03 0 24755.69 04:06:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183624.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183625.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.16 2.50 11.91 3.92 4.05 0 9913.30 04:07:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183626.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183627.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.41 13.08 4.01 4.04 0 15963.90 04:07:02 m : AshtechGps::processRecord() - $GPGGA,183628.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.983334 : AshtechGps::processRecord() - $GPGGA,183629.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183630.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183631.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183632.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183633.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 3.75 12.50 4.02 4.03 0 24755.46 04:07:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183634.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183635.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.16 2.60 11.91 3.92 4.05 0 9913.11 04:07:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183636.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183637.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.52 13.08 4.01 4.04 0 15963.48 04:07:12 m : AshtechGps::processRecord() - $GPGGA,183638.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.983334 : AshtechGps::processRecord() - $GPGGA,183639.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.760631 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.760631 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.760631 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183640.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.760631 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.760631 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.760631 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.760631 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.933134 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183641.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.933134 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.933134 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.933134 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.933134 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.933134 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183642.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.933134 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.933134 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.388540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.388540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.388540 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183643.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 2.22 12.50 4.02 4.03 0 24755.12 04:07:18 m : DepthEnvelope -- Measured altitude 8.388540 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.388540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.388540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.388540 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.635276 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183644.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.635276 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.635276 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.635276 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.635276 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.635276 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183645.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.635276 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.28 1.15 11.81 3.94 4.06 0 9912.89 04:07:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.825671 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.825671 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.825671 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.825671 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183646.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.825671 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.825671 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.825671 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.825671 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.192512 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183647.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.192512 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.192512 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.41 1.25 13.08 4.02 4.05 0 15963.30 04:07:22 m : DepthEnvelope -- Measured altitude 6.192512 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.192512 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.192512 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183648.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.192512 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.720198 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.993333 : DepthEnvelope -- Measured altitude 5.720198 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.720198 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.720198 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183649.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.720198 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.720198 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.720198 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.361105 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.361105 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183650.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.361105 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.361105 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.361105 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.361105 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.361105 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183651.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.361105 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.306344 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.306344 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.306344 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.306344 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183652.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.306344 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.306344 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.306344 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.492677 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.492677 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183653.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 1.26 12.50 4.03 4.05 0 24755.04 04:07:28 m : DepthEnvelope -- Measured altitude 5.492677 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.492677 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.492677 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.492677 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.492677 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183654.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.644375 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.644375 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.644375 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.644375 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.644375 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183655.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.644375 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.28 1.01 11.91 3.94 4.06 0 9912.82 04:07:30 m : DepthEnvelope -- Measured altitude 5.644375 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.644375 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.907128 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.907128 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183656.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.907128 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 5.907128 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.907128 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.907128 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.907128 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183657.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.362804 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.362804 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.37 1.65 13.08 4.02 4.05 0 15963.15 04:07:32 m : DepthEnvelope -- Measured altitude 6.362804 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.362804 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.362804 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183658.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.362804 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.362804 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : DepthEnvelope -- Measured altitude 6.587489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.587489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.587489 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183659.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.587489 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.587489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.587489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.587489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.587489 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183700.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.781374 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.781374 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.781374 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.781374 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.781374 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183701.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.781374 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.781374 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.800450 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.800450 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.800450 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183702.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.800450 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.800450 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.800450 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.800450 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.098271 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183703.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 1.33 12.59 4.03 4.05 0 24754.95 04:07:38 m : DepthEnvelope -- Measured altitude 7.098271 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.098271 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.098271 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.098271 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.098271 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183704.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.098271 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.098271 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.316649 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.316649 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.316649 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183705.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.316649 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.28 1.01 11.81 3.94 4.06 0 9912.70 04:07:40 m : DepthEnvelope -- Measured altitude 7.316649 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.316649 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.316649 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.517080 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183706.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.517080 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.517080 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.517080 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.517080 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.517080 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183707.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.517080 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.689594 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.45 1.21 13.08 4.02 4.05 0 15963.03 04:07:42 m : DepthEnvelope -- Measured altitude 7.689594 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.689594 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.689594 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183708.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.689594 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.689594 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : DepthEnvelope -- Measured altitude 7.689594 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.689594 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.827064 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183709.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.827064 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.827064 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.827064 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.827064 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.827064 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183710.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.827064 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.888157 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.888157 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.888157 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.888157 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183711.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.888157 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.888157 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.888157 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.888157 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.860556 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183712.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.860556 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.860556 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.860556 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.860556 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.860556 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183713.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 0.85 12.50 4.03 4.05 0 24754.88 04:07:47 m : DepthEnvelope -- Measured altitude 7.860556 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.801314 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.801314 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.801314 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.801314 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183714.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Waypoint has set the state to finished. : Waypoint (4078791.9, 599491.8), reached at t = 9578.99 (wplog) : Vehicle Position is error is (0.0, 2.1) : LayeredControl::execute() -- (t = 9578.993794) Behavior waypoint_yoyo:1108700 has changed to state Finished : LayeredControl - sending BehaviorFinished:1108700 msg to VcsServer : DepthEnvelope -- Measured altitude 7.801314 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.801314 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.801314 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.761527 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.761527 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183715.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.761527 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.32 0.83 11.91 3.94 4.06 0 9912.64 04:07:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.761527 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.761527 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.761527 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.761527 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183716.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.761527 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.881490 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.881490 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.881490 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.881490 under allowable altitude 10.000000. Stopping! : DynoLayeredControlServer insertBehaves : AshtechGps::processRecord() - $GPGGA,183717.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion ascend after pos 2 : DynoLayeredControl::insert - stack now contains 28 behaviors : LayeredControl::execute() -- (t = 9582.143578) Behavior ascend:1973100 has changed to state Active : LayeredControl - ascend BehaviorStarted:1973100 msg to VcsServer : DepthEnvelope -- Measured altitude 7.881490 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.881490 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.45 1.21 13.08 4.02 4.05 0 15962.88 04:07:52 m : DepthEnvelope -- Measured altitude 7.881490 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.786056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.786056 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183718.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.786056 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.786056 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : DepthEnvelope -- Measured altitude 7.786056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.786056 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.786056 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183719.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.988659 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.988659 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.988659 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.988659 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.988659 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183720.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.988659 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.988659 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.988659 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.857441 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.857441 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183721.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.857441 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.857441 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.857441 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.857441 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.857441 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183722.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.112297 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.112297 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.112297 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.112297 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.112297 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183723.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 0.85 12.59 4.03 4.05 0 24754.79 04:07:57 m : DepthEnvelope -- Measured altitude 8.112297 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.112297 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.293590 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.293590 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.293590 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183724.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.293590 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.293590 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.293590 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.293590 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.293590 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183725.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.580914 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.32 0.83 11.91 3.94 4.06 0 9912.55 04:08:00 m : DepthEnvelope -- Measured altitude 8.580914 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.580914 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.580914 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.580914 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183726.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.580914 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.580914 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.874153 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.874153 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.874153 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183727.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.874153 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.874153 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.41 1.25 13.08 4.03 4.05 0 15962.79 04:08:02 m : DepthEnvelope -- Measured altitude 8.874153 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.874153 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.151100 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183728.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.151100 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.151100 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : DepthEnvelope -- Measured altitude 9.151100 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.151100 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.151100 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183729.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.151100 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.151100 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.260642 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.260642 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.260642 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183730.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.260642 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.260642 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.260642 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.260642 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.346724 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183731.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.346724 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.346724 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.346724 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.346724 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.346724 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183732.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.346724 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.346724 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.629928 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.629928 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.629928 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183733.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 1.44 12.59 4.03 4.05 0 24754.73 04:08:08 m : DepthEnvelope -- Measured altitude 9.629928 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.629928 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.629928 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.629928 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.022156 over abort altitude 10.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,183734.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183735.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.32 0.86 11.91 3.94 4.06 0 9912.49 04:08:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183736.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183737.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 1.65 13.08 4.03 4.05 0 15962.66 04:08:12 m : AshtechGps::processRecord() - $GPGGA,183738.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : AshtechGps::processRecord() - $GPGGA,183739.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183740.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183741.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183742.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183743.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 3.37 12.50 4.03 4.05 0 24754.54 04:08:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183744.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183745.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.16 2.71 11.91 3.93 4.05 0 9912.28 04:08:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183746.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183747.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.948963 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.948963 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.26 4.27 13.08 4.01 4.04 0 15962.39 04:08:22 m : DepthEnvelope -- Measured altitude 9.948963 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.948963 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.948963 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183748.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.948963 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.948963 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.990000 : DepthEnvelope -- Measured altitude 9.825228 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.825228 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.825228 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183749.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.825228 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.825228 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.825228 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.825228 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.825228 under allowable altitude 10.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183750.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.995268 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.995268 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.995268 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.995268 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.995268 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183751.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.995268 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.995268 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.649360 over abort altitude 10.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,183752.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183753.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 0.92 12.50 4.02 4.03 0 24754.29 04:08:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183754.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183755.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.24 1.26 11.91 3.93 4.05 0 9912.13 04:08:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183756.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,183757.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 2.76 13.08 4.01 4.04 0 15962.10 04:08:32 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183758.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,183759.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183800.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183801.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183802.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183803.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.30 12.50 4.02 4.03 0 24754.07 04:08:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183804.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183805.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.16 2.57 11.91 3.93 4.05 0 9911.90 04:08:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183806.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183807.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.66 13.08 4.01 4.04 0 15961.84 04:08:42 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183808.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,183809.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183810.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183811.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183812.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183813.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 4.49 12.50 4.02 4.03 0 24753.83 04:08:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183814.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183815.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.20 2.31 11.91 3.93 4.05 0 9911.72 04:08:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183816.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183817.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 3.34 13.08 4.01 4.04 0 15961.46 04:08:52 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183818.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183819.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183820.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183821.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183822.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183823.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 4.08 12.50 4.02 4.03 0 24753.45 04:08:58 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183824.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183825.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.16 2.86 11.91 3.93 4.05 0 9911.47 04:09:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183826.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183827.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.33 3.41 13.08 4.01 4.04 0 15961.21 04:09:02 m : AshtechGps::processRecord() - $GPGGA,183828.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183829.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183830.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183831.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183832.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183833.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 2.92 12.50 4.02 4.03 0 24753.21 04:09:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183834.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183835.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.16 2.78 11.91 3.93 4.05 0 9911.30 04:09:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183836.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183837.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.30 3.44 13.08 4.01 4.04 0 15960.85 04:09:12 m : AshtechGps::processRecord() - $GPGGA,183838.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183839.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183840.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183841.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183842.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183843.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.44 12.59 4.02 4.03 0 24752.87 04:09:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183844.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183845.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.16 2.31 11.91 3.93 4.05 0 9911.05 04:09:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183846.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183847.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.33 4.09 13.08 4.01 4.04 0 15960.61 04:09:22 m : AshtechGps::processRecord() - $GPGGA,183848.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,183849.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183850.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183851.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183852.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183853.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 3.63 12.50 4.02 4.03 0 24752.64 04:09:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183854.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183855.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.16 2.57 11.91 3.93 4.05 0 9910.88 04:09:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183856.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183857.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.30 3.59 13.08 4.01 4.04 0 15960.24 04:09:32 m : AshtechGps::processRecord() - $GPGGA,183858.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,183859.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183900.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183901.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183902.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183903.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 3.56 12.50 4.02 4.03 0 24752.29 04:09:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183904.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183905.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.16 2.67 12.01 3.93 4.05 0 9910.63 04:09:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183906.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183907.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.30 3.62 13.08 4.01 4.04 0 15960.00 04:09:42 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183908.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,183909.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183910.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183911.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183912.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183913.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 2.89 12.50 4.01 4.03 0 24752.03 04:09:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183914.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183915.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.16 2.28 12.01 3.93 4.05 0 9910.46 04:09:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183916.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183917.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.30 3.41 13.08 4.01 4.04 0 15959.64 04:09:52 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183918.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.983334 : DynoLayeredControlServer insertBehaves : DynoLayeredControlServer rdeleteBehavior(1973100) : DynoLayeredControlServer rdeleteBehavior(1977949) : DynoLayeredControlServer rdeleteBehavior(1977971) : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion getgps after pos 2 : DynoLayeredControl::insert - stack now contains 29 behaviors : DynoLayeredControl::delete - deleteing behavior w/id=1973100 : Found behavior ascend with id 1973100 : Behavior ascend is Active, abandon it : DynoLayeredControl::delete - behavior removed : DynoLayeredControl::delete - deleteing behavior w/id=1977949 : DynoLayeredControl::delete - behavior not found : DynoLayeredControl::delete - deleteing behavior w/id=1977971 : Found behavior getgps with id 1977971 : Behavior getgps is not Active, remove it from the stack : DynoLayeredControl::delete - behavior removed : LayeredControl::execute() -- (t = 9703.755247) Behavior ascend:1973100 has changed to state Finished : LayeredControl - sending BehaviorFinished:1973100 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : AshtechGps::processRecord() - $GPGGA,183919.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183920.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion ascend after pos 2 : DynoLayeredControl::insert - stack now contains 29 behaviors : LayeredControl::execute() -- (t = 9705.535125) Behavior ascend:1981327 has changed to state Active : LayeredControl - ascend BehaviorStarted:1981327 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.70 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183921.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.70 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,183922.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183923.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 3.67 12.50 4.01 4.03 0 24751.69 04:09:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.70 speedMode=1 speed=1.50 : LayeredControl::callback() - got abort request from server : Initiating Mission Abort! : LayeredControl::execute() -- (t = 9708.394929) Behavior setpoint:-1 has changed to state Active : LayeredControl - setpoint BehaviorStarted:-1 msg to VcsServer : LayeredControl::execute() -- (t = 9708.394929) Behavior missionTimer:-1 has changed to state Active : LayeredControl - missionTimer BehaviorStarted:-1 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,183924.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183925.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.16 2.53 12.01 3.92 4.05 0 9910.19 04:10:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183926.00,,,,,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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183927.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 1.54 13.08 4.01 4.04 0 15959.38 04:10:02 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183928.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.980000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183929.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183930.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183931.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183932.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183933.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 0.89 12.50 4.01 4.03 0 24751.54 04:10:08 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183934.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183935.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 0.79 11.91 3.92 4.05 0 9910.12 04:10:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183936.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183937.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.37 1.18 13.08 4.01 4.04 0 15959.20 04:10:12 m : AshtechGps::processRecord() - $GPGGA,183938.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.980000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183939.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183940.00,,,,,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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183941.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183942.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183943.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 1.07 12.50 4.01 4.03 0 24751.45 04:10:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183944.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183945.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 0.75 11.91 3.94 4.06 0 9910.04 04:10:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183946.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183947.00,,,,,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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 1.21 13.08 4.02 4.05 0 15959.11 04:10:22 m : AshtechGps::processRecord() - $GPGGA,183948.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.990000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183949.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183950.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183951.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183952.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183953.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 2.26 12.50 4.03 4.05 0 24751.39 04:10:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183954.00,,,,,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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183955.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.24 0.90 12.01 3.94 4.06 0 9909.98 04:10:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183956.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183957.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 1.18 13.08 4.02 4.05 0 15958.98 04:10:32 m : AshtechGps::processRecord() - $GPGGA,183958.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,183959.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184000.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184001.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184002.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184003.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 0.85 12.40 4.03 4.05 0 24751.30 04:10:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184004.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184005.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 0.86 11.91 3.94 4.06 0 9909.89 04:10:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184006.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184007.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 1.21 13.08 4.02 4.05 0 15958.88 04:10:42 m : AshtechGps::processRecord() - $GPGGA,184008.00,,,,,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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,184009.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184010.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184011.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184012.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184013.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 0.85 12.40 4.03 4.05 0 24751.23 04:10:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184014.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184015.00,,,,,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 : BluefinBatt Reply: $b6q0 d- 32.20 1.44 11.91 3.94 4.06 0 9909.82 04:10:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184016.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184017.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 1.29 12.98 4.02 4.05 0 15958.74 04:10:52 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184018.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,184019.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184020.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184021.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184022.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184023.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 0.85 12.40 4.03 4.05 0 24751.10 04:10:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184024.00,,,,,0,01,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184025.00,,,,,0,01,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 0.79 11.91 3.94 4.06 0 9909.70 04:11:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184026.00,,,,,0,01,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184027.00,,,,,0,01,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 1.90 12.98 4.02 4.05 0 15958.65 04:11:02 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184028.00,,,,,0,01,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,184029.00,,,,,0,01,,,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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184030.00,,,,,0,02,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184031.00,,,,,0,02,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184032.00,,,,,0,02,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184033.00,,,,,0,02,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 1.11 12.50 4.03 4.05 0 24751.04 04:11:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184034.00,,,,,0,02,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184035.00,,,,,0,02,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.28 0.86 11.81 3.94 4.06 0 9909.63 04:11:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184036.00,3650.99068,N,12153.06524,W,1,06,1.9,-6.33,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184037.00,3650.99105,N,12153.06536,W,1,06,1.9,-6.85,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 1.32 13.08 4.02 4.05 0 15958.52 04:11:12 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184038.00,3650.99116,N,12153.06546,W,1,06,1.9,-6.62,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184039.00,3650.99126,N,12153.06552,W,1,06,1.9,-6.12,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184040.00,3650.99117,N,12153.06529,W,1,07,1.3,-5.28,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184041.00,3650.99119,N,12153.06492,W,1,07,1.3,-5.05,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184042.00,3650.99107,N,12153.06477,W,1,08,1.1,-4.62,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184043.00,3650.99122,N,12153.06489,W,1,08,1.1,-5.06,M,-32.59,M,,*74 : BluefinBatt Reply: $aaq0 d- 32.21 0.85 12.40 4.03 4.05 0 24750.95 04:11:18 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184044.00,3650.99157,N,12153.06512,W,1,08,1.1,-5.17,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184045.00,3650.99166,N,12153.06523,W,1,08,1.1,-4.84,M,-32.59,M,,*78 : BluefinBatt Reply: $b6q0 d- 32.28 0.83 11.81 3.94 4.06 0 9909.55 04:11:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184046.00,3650.99171,N,12153.06496,W,1,08,1.1,-4.25,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184047.00,3650.99178,N,12153.06471,W,1,08,1.1,-4.69,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.45 1.21 13.08 4.02 4.05 0 15958.43 04:11:22 m : AshtechGps::processRecord() - $GPGGA,184048.00,3650.99188,N,12153.06474,W,1,08,1.1,-4.97,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184049.00,3650.99198,N,12153.06480,W,1,08,1.1,-4.95,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184050.00,3650.99195,N,12153.06481,W,1,08,1.1,-4.87,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184051.00,3650.99222,N,12153.06480,W,1,08,1.1,-5.00,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184052.00,3650.99227,N,12153.06515,W,1,08,1.1,-5.17,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184053.00,3650.99251,N,12153.06517,W,1,08,1.1,-4.60,M,-32.59,M,,*75 : BluefinBatt Reply: $aaq0 d- 32.25 0.85 12.30 4.03 4.05 0 24750.87 04:11:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184054.00,3650.99254,N,12153.06514,W,1,08,1.1,-4.29,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184055.00,3650.99281,N,12153.06485,W,1,08,1.1,-4.12,M,-32.59,M,,*71 : BluefinBatt Reply: $b6q0 d- 32.28 1.05 11.81 3.94 4.06 0 9909.49 04:11:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184056.00,3650.99289,N,12153.06450,W,1,08,1.1,-4.17,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184057.00,3650.99299,N,12153.06436,W,1,08,1.1,-4.54,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 1.25 13.08 4.02 4.05 0 15958.29 04:11:32 m : AshtechGps::processRecord() - $GPGGA,184058.00,3650.99318,N,12153.06451,W,1,08,1.1,-5.27,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184059.00,3650.99324,N,12153.06473,W,1,08,1.1,-5.17,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184100.00,3650.99337,N,12153.06486,W,1,08,1.1,-5.11,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184101.00,3650.99344,N,12153.06482,W,1,08,1.1,-4.53,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184102.00,3650.99357,N,12153.06461,W,1,08,1.1,-4.47,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184103.00,3650.99374,N,12153.06458,W,1,08,1.1,-4.67,M,-32.59,M,,*7A : BluefinBatt Reply: $aaq0 d- 32.21 0.85 12.50 4.03 4.05 0 24750.77 04:11:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184104.00,3650.99378,N,12153.06473,W,1,08,1.1,-4.76,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184105.00,3650.99398,N,12153.06446,W,1,08,1.1,-4.21,M,-32.59,M,,*73 : BluefinBatt Reply: $b6q0 d- 32.28 0.86 11.91 3.94 4.06 0 9909.39 04:11:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184106.00,3650.99392,N,12153.06414,W,1,08,1.1,-4.23,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184107.00,3650.99427,N,12153.06401,W,1,08,1.1,-4.80,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 1.21 12.98 4.03 4.05 0 15958.20 04:11:42 m : AshtechGps::processRecord() - $GPGGA,184108.00,3650.99440,N,12153.06422,W,1,08,1.1,-5.08,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : AshtechGps::processRecord() - $GPGGA,184109.00,3650.99475,N,12153.06420,W,1,08,1.1,-4.86,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184110.00,3650.99456,N,12153.06417,W,1,08,1.1,-4.83,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184111.00,3650.99466,N,12153.06412,W,1,08,1.1,-4.72,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184112.00,3650.99464,N,12153.06408,W,1,08,1.1,-4.81,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184113.00,3650.99482,N,12153.06411,W,1,08,1.1,-5.05,M,-32.59,M,,*7D : BluefinBatt Reply: $aaq0 d- 32.25 0.89 12.30 4.03 4.05 0 24750.70 04:11:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184114.00,3650.99489,N,12153.06414,W,1,08,1.1,-4.75,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184115.00,3650.99511,N,12153.06408,W,1,08,1.1,-4.31,M,-32.59,M,,*7E : BluefinBatt Reply: $b6q0 d- 32.28 0.75 11.81 3.94 4.06 0 9909.33 04:11:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184116.00,3650.99536,N,12153.06379,W,1,08,1.1,-4.17,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184117.00,3650.99543,N,12153.06360,W,1,08,1.1,-4.52,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.37 1.79 13.08 4.03 4.05 0 15958.07 04:11:52 m : AshtechGps::processRecord() - $GPGGA,184118.00,3650.99571,N,12153.06363,W,1,08,1.1,-4.87,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : AshtechGps::processRecord() - $GPGGA,184119.00,3650.99567,N,12153.06376,W,1,08,1.1,-4.87,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184120.00,3650.99588,N,12153.06375,W,1,08,1.1,-4.66,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184121.00,3650.99584,N,12153.06364,W,1,08,1.1,-4.66,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184122.00,3650.99597,N,12153.06351,W,1,08,1.1,-4.67,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184123.00,3650.99603,N,12153.06340,W,1,08,1.1,-4.84,M,-32.59,M,,*7E : BluefinBatt Reply: $aaq0 d- 32.25 0.85 12.40 4.03 4.05 0 24750.61 04:11:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184124.00,3650.99625,N,12153.06354,W,1,08,1.1,-5.09,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184125.00,3650.99634,N,12153.06378,W,1,08,1.1,-5.13,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.32 0.79 11.91 3.94 4.06 0 9909.24 04:12:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184126.00,3650.99652,N,12153.06391,W,1,08,1.1,-4.84,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184127.00,3650.99666,N,12153.06380,W,1,08,1.1,-4.11,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 1.21 12.98 4.03 4.05 0 15957.95 04:12:02 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184128.00,3650.99673,N,12153.06331,W,1,08,1.1,-3.59,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : AshtechGps::processRecord() - $GPGGA,184129.00,3650.99677,N,12153.06272,W,1,08,1.1,-3.79,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184130.00,3650.99696,N,12153.06257,W,1,08,1.1,-4.87,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184131.00,3650.99712,N,12153.06288,W,1,08,1.1,-5.45,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184132.00,3650.99741,N,12153.06335,W,1,08,1.1,-4.99,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184133.00,3650.99739,N,12153.06349,W,1,08,1.1,-4.55,M,-32.59,M,,*72 : BluefinBatt Reply: $aaq0 d- 32.25 0.85 12.40 4.03 4.05 0 24750.54 04:12:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184134.00,3650.99757,N,12153.06326,W,1,08,1.1,-4.61,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184135.00,3650.99747,N,12153.06310,W,1,09,0.9,-4.39,M,-32.59,M,,*73 : BluefinBatt Reply: $b6q0 d- 32.32 0.83 11.81 3.94 4.06 0 9909.18 04:12:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184136.00,3650.99754,N,12153.06299,W,1,09,0.9,-4.27,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184137.00,3650.99765,N,12153.06276,W,1,09,0.9,-4.03,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 1.21 12.98 4.03 4.05 0 15957.80 04:12:12 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184138.00,3650.99788,N,12153.06272,W,1,09,0.9,-4.29,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : AshtechGps::processRecord() - $GPGGA,184139.00,3650.99799,N,12153.06272,W,1,09,0.9,-4.31,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184140.00,3650.99806,N,12153.06260,W,1,09,0.9,-4.39,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184141.00,3650.99815,N,12153.06252,W,1,09,0.9,-4.53,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184142.00,3650.99841,N,12153.06259,W,1,09,0.9,-4.42,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184143.00,3650.99855,N,12153.06256,W,1,09,0.9,-4.72,M,-32.59,M,,*72 : BluefinBatt Reply: $aaq0 d- 32.21 0.81 12.40 4.03 4.05 0 24750.45 04:12:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184144.00,3650.99877,N,12153.06271,W,1,09,0.9,-4.72,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184145.00,3650.99879,N,12153.06282,W,1,09,0.9,-4.68,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $b6q0 d- 32.28 0.83 11.81 3.95 4.06 0 9909.09 04:12:20 m : AshtechGps::processRecord() - $GPGGA,184146.00,3650.99899,N,12153.06282,W,1,09,0.9,-4.19,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184147.00,3650.99910,N,12153.06243,W,1,09,0.9,-3.92,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 1.21 12.98 4.03 4.05 0 15957.71 04:12:22 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184148.00,3650.99929,N,12153.06226,W,1,09,0.9,-4.42,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.003334 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184149.00,3650.99939,N,12153.06227,W,1,09,0.9,-4.76,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184150.00,3650.99949,N,12153.06233,W,1,09,0.9,-4.77,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184151.00,3650.99966,N,12153.06237,W,1,09,0.9,-4.78,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184152.00,3650.99983,N,12153.06230,W,1,09,0.9,-4.61,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184153.00,3650.99999,N,12153.06237,W,1,09,0.9,-4.64,M,-32.59,M,,*72 : BluefinBatt Reply: $aaq0 d- 32.21 0.85 12.30 4.03 4.05 0 24750.38 04:12:27 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184154.00,3651.00010,N,12153.06238,W,1,09,0.9,-4.72,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184155.00,3651.00026,N,12153.06244,W,1,09,0.9,-4.42,M,-32.59,M,,*78 : BluefinBatt Reply: $b6q0 d- 32.28 0.79 11.91 3.95 4.06 0 9909.04 04:12:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184156.00,3651.00026,N,12153.06226,W,1,09,0.9,-4.41,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184157.00,3651.00033,N,12153.06215,W,1,09,0.9,-4.50,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.45 1.50 12.98 4.03 4.05 0 15957.57 04:12:32 m : AshtechGps::processRecord() - $GPGGA,184158.00,3651.00047,N,12153.06219,W,1,09,0.9,-4.77,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.003334 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184159.00,3651.00074,N,12153.06239,W,1,09,0.9,-4.69,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184200.00,3651.00096,N,12153.06228,W,1,09,0.9,-4.38,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184201.00,3651.00107,N,12153.06209,W,1,09,0.9,-4.19,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184202.00,3651.00102,N,12153.06184,W,1,09,0.9,-4.56,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184203.00,3651.00119,N,12153.06209,W,1,09,0.9,-4.92,M,-32.59,M,,*71 : BluefinBatt Reply: $aaq0 d- 32.25 0.89 12.30 4.03 4.05 0 24750.28 04:12:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184204.00,3651.00129,N,12153.06221,W,1,09,0.9,-4.95,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184205.00,3651.00143,N,12153.06240,W,1,09,0.9,-4.58,M,-32.59,M,,*73 : BluefinBatt Reply: $b6q0 d- 32.28 0.75 11.91 3.94 4.06 0 9908.95 04:12:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184206.00,3651.00158,N,12153.06217,W,1,09,0.9,-4.21,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184207.00,3651.00177,N,12153.06206,W,1,09,0.9,-4.24,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 1.25 12.98 4.03 4.05 0 15957.48 04:12:42 m : AshtechGps::processRecord() - $GPGGA,184208.00,3651.00193,N,12153.06197,W,1,09,0.9,-4.22,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184209.00,3651.00203,N,12153.06178,W,1,09,0.9,-4.44,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184210.00,3651.00213,N,12153.06185,W,1,09,0.9,-4.76,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184211.00,3651.00216,N,12153.06195,W,1,09,0.9,-4.91,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184212.00,3651.00231,N,12153.06214,W,1,09,0.9,-4.50,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184213.00,3651.00242,N,12153.06189,W,1,09,0.9,-4.63,M,-32.59,M,,*78 : BluefinBatt Reply: $aaq0 d- 32.25 0.85 12.50 4.03 4.05 0 24750.18 04:12:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184214.00,3651.00258,N,12153.06203,W,1,09,0.9,-4.67,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184215.00,3651.00274,N,12153.06209,W,1,09,0.9,-4.48,M,-32.59,M,,*79 : BluefinBatt Reply: $b6q0 d- 32.32 0.83 11.91 3.94 4.06 0 9908.89 04:12:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184216.00,3651.00288,N,12153.06209,W,1,09,0.9,-4.02,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184217.00,3651.00300,N,12153.06157,W,1,09,0.9,-3.84,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 1.21 12.98 4.03 4.05 0 15957.34 04:12:52 m : AshtechGps::processRecord() - $GPGGA,184218.00,3651.00308,N,12153.06137,W,1,09,0.9,-4.43,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : AshtechGps::processRecord() - $GPGGA,184219.00,3651.00314,N,12153.06125,W,1,09,0.9,-4.97,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184220.00,3651.00320,N,12153.06153,W,1,09,0.9,-5.20,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184221.00,3651.00341,N,12153.06177,W,1,09,0.9,-5.06,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184222.00,3651.00363,N,12153.06198,W,1,09,0.9,-4.76,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184223.00,3651.00369,N,12153.06191,W,1,09,0.9,-4.11,M,-32.59,M,,*7F : BluefinBatt Reply: $aaq0 d- 32.25 0.85 12.40 4.03 4.05 0 24750.07 04:12:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184224.00,3651.00362,N,12153.06141,W,1,09,0.9,-3.96,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184225.00,3651.00364,N,12153.06121,W,1,09,0.9,-4.27,M,-32.59,M,,*7A : BluefinBatt Reply: $b6q0 d- 32.32 0.79 11.81 3.94 4.06 0 9908.80 04:13:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184226.00,3651.00392,N,12153.06104,W,1,09,0.9,-4.76,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184227.00,3651.00413,N,12153.06146,W,1,09,0.9,-5.00,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 1.21 12.98 4.03 4.05 0 15957.25 04:13:02 m : AshtechGps::processRecord() - $GPGGA,184228.00,3651.00438,N,12153.06126,W,1,09,0.9,-4.45,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : AshtechGps::processRecord() - $GPGGA,184229.00,3651.00453,N,12153.06126,W,1,09,0.9,-4.46,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184230.00,3651.00456,N,12153.06110,W,1,09,0.9,-4.62,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184231.00,3651.00458,N,12153.06104,W,1,09,0.9,-4.45,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184232.00,3651.00457,N,12153.06097,W,1,09,0.9,-4.71,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184233.00,3651.00469,N,12153.06103,W,1,09,0.9,-4.84,M,-32.59,M,,*7E : BluefinBatt Reply: $aaq0 d- 32.25 0.89 12.40 4.03 4.05 0 24750.00 04:13:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184234.00,3651.00488,N,12153.06117,W,1,09,0.9,-4.55,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184235.00,3651.00514,N,12153.06098,W,1,09,0.9,-4.16,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.28 0.75 11.91 3.94 4.06 0 9908.73 04:13:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184236.00,3651.00535,N,12153.06099,W,1,09,0.9,-4.07,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184237.00,3651.00544,N,12153.06079,W,1,10,0.8,-4.00,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 1.32 12.98 4.03 4.05 0 15957.04 04:13:12 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184238.00,3651.00556,N,12153.06078,W,1,10,0.8,-4.20,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : AshtechGps::processRecord() - $GPGGA,184239.00,3651.00561,N,12153.06070,W,1,10,0.8,-4.40,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184240.00,3651.00572,N,12153.06077,W,1,10,0.8,-4.46,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184241.00,3651.00584,N,12153.06090,W,1,10,0.8,-4.58,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184242.00,3651.00596,N,12153.06087,W,1,10,0.8,-4.24,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 32.25 0.81 12.40 4.03 4.05 0 24749.90 04:13:17 m : AshtechGps::processRecord() - $GPGGA,184243.00,3651.00601,N,12153.06076,W,1,10,0.8,-4.00,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184244.00,3651.00607,N,12153.06048,W,1,10,0.8,-4.22,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184245.00,3651.00621,N,12153.06047,W,1,10,0.8,-4.28,M,-32.59,M,,*7F : BluefinBatt Reply: $b6q0 d- 32.32 0.79 11.81 3.95 4.06 0 9908.64 04:13:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184246.00,3651.00631,N,12153.06023,W,1,10,0.8,-4.33,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184247.00,3651.00643,N,12153.06044,W,1,10,0.8,-4.69,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 1.21 12.98 4.03 4.05 0 15956.95 04:13:22 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184248.00,3651.00663,N,12153.06057,W,1,10,0.8,-4.55,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,184249.00,3651.00688,N,12153.06052,W,1,10,0.8,-4.03,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184250.00,3651.00695,N,12153.06030,W,1,10,0.8,-4.19,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184251.00,3651.00697,N,12153.06030,W,1,10,0.8,-4.36,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184252.00,3651.00709,N,12153.06029,W,1,10,0.8,-3.96,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184253.00,3651.00721,N,12153.06009,W,1,10,0.8,-4.25,M,-32.59,M,,*7E : BluefinBatt Reply: $aaq0 d- 32.25 0.85 12.50 4.03 4.05 0 24749.84 04:13:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184254.00,3651.00727,N,12153.06007,W,1,10,0.8,-4.47,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184255.00,3651.00736,N,12153.06024,W,1,10,0.8,-4.51,M,-32.59,M,,*72 : BluefinBatt Reply: $b6q0 d- 32.32 0.79 11.81 3.95 4.06 0 9908.57 04:13:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184256.00,3651.00759,N,12153.06017,W,1,10,0.8,-4.13,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184257.00,3651.00779,N,12153.05997,W,1,10,0.8,-4.18,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 1.29 13.08 4.03 4.05 0 15956.82 04:13:32 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184258.00,3651.00787,N,12153.05991,W,1,10,0.8,-4.42,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.003334 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184259.00,3651.00796,N,12153.05982,W,1,10,0.8,-4.08,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184300.00,3651.00807,N,12153.05976,W,1,10,0.8,-4.25,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184301.00,3651.00819,N,12153.05964,W,1,10,0.8,-4.66,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184302.00,3651.00843,N,12153.05992,W,1,10,0.8,-4.64,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184303.00,3651.00848,N,12153.05988,W,1,10,0.8,-4.70,M,-32.59,M,,*79 : BluefinBatt Reply: $aaq0 d- 32.21 0.89 12.50 4.03 4.05 0 24749.74 04:13:38 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184304.00,3651.00856,N,12153.05988,W,1,10,0.8,-4.31,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184305.00,3651.00868,N,12153.05987,W,1,10,0.8,-4.24,M,-32.59,M,,*73 : BluefinBatt Reply: $b6q0 d- 32.28 0.79 11.91 3.95 4.06 0 9908.48 04:13:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184306.00,3651.00879,N,12153.05973,W,1,10,0.8,-3.91,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184307.00,3651.00887,N,12153.05950,W,1,10,0.8,-3.76,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.45 1.25 13.08 4.03 4.05 0 15956.73 04:13:42 m : AshtechGps::processRecord() - $GPGGA,184308.00,3651.00894,N,12153.05912,W,1,10,0.8,-4.01,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.003334 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184309.00,3651.00908,N,12153.05902,W,1,10,0.8,-4.66,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184310.00,3651.00922,N,12153.05922,W,1,10,0.8,-4.98,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184311.00,3651.00950,N,12153.05951,W,1,10,0.8,-4.72,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184312.00,3651.00970,N,12153.05962,W,1,10,0.8,-4.52,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184313.00,3651.00980,N,12153.05968,W,1,10,0.8,-4.24,M,-32.59,M,,*72 : BluefinBatt Reply: $aaq0 d- 32.21 1.07 12.50 4.03 4.05 0 24749.68 04:13:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184314.00,3651.00977,N,12153.05948,W,1,10,0.8,-3.97,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184315.00,3651.00987,N,12153.05923,W,1,10,0.8,-3.62,M,-32.59,M,,*79 : BluefinBatt Reply: $b6q0 d- 32.32 0.83 11.81 3.95 4.06 0 9908.42 04:13:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184316.00,3651.01002,N,12153.05878,W,1,10,0.8,-3.54,M,-32.59,M,,*75 : StatePublisher: Updating state vector : Isus::select() timeout : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184317.00,3651.01006,N,12153.05868,W,1,10,0.8,-4.19,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 1.21 13.08 4.03 4.05 0 15956.59 04:13:52 m : AshtechGps::processRecord() - $GPGGA,184318.00,3651.01009,N,12153.05868,W,1,10,0.8,-4.56,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.003334 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184319.00,3651.01041,N,12153.05877,W,1,10,0.8,-4.47,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184320.00,3651.01055,N,12153.05877,W,1,10,0.8,-4.66,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184321.00,3651.01068,N,12153.05898,W,1,10,0.8,-4.51,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184322.00,3651.01079,N,12153.05887,W,1,10,0.8,-4.20,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184323.00,3651.01096,N,12153.05886,W,1,10,0.8,-4.11,M,-32.59,M,,*79 : BluefinBatt Reply: $aaq0 d- 32.21 2.30 12.50 4.03 4.05 0 24749.54 04:13:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184324.00,3651.01106,N,12153.05873,W,1,10,0.8,-4.13,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184325.00,3651.01123,N,12153.05864,W,1,10,0.8,-3.96,M,-32.59,M,,*74 : BluefinBatt Reply: $b6q0 d- 32.28 0.90 11.81 3.95 4.06 0 9908.33 04:14:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184326.00,3651.01126,N,12153.05832,W,1,10,0.8,-4.04,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184327.00,3651.01130,N,12153.05821,W,1,10,0.8,-4.35,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 1.21 13.08 4.03 4.05 0 15956.49 04:14:02 m : AshtechGps::processRecord() - $GPGGA,184328.00,3651.01129,N,12153.05827,W,1,10,0.8,-4.71,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,184329.00,3651.01146,N,12153.05840,W,1,10,0.8,-4.59,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184330.00,3651.01167,N,12153.05847,W,1,10,0.8,-4.65,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184331.00,3651.01191,N,12153.05871,W,1,10,0.8,-3.98,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184332.00,3651.01205,N,12153.05844,W,1,10,0.8,-3.57,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184333.00,3651.01214,N,12153.05798,W,1,10,0.8,-3.59,M,-32.59,M,,*7B : BluefinBatt Reply: $aaq0 d- 32.25 0.85 12.40 4.03 4.05 0 24749.48 04:14:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184334.00,3651.01218,N,12153.05773,W,1,10,0.8,-4.24,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184335.00,3651.01196,N,12153.05771,W,1,11,0.7,-4.62,M,-32.59,M,,*72 : BluefinBatt Reply: $b6q0 d- 32.32 1.55 11.91 3.95 4.06 0 9908.27 04:14:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184336.00,3651.01210,N,12153.05778,W,1,11,0.7,-4.30,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184337.00,3651.01232,N,12153.05752,W,1,11,0.7,-4.07,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 1.21 13.08 4.03 4.05 0 15956.36 04:14:12 m : AshtechGps::processRecord() - $GPGGA,184338.00,3651.01253,N,12153.05744,W,1,11,0.7,-4.41,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,184339.00,3651.01260,N,12153.05751,W,1,11,0.7,-4.76,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184340.00,3651.01260,N,12153.05778,W,1,11,0.7,-5.06,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184341.00,3651.01266,N,12153.05796,W,1,11,0.7,-4.39,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184342.00,3651.01277,N,12153.05780,W,1,11,0.7,-3.77,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184343.00,3651.01298,N,12153.05743,W,1,11,0.7,-3.46,M,-32.59,M,,*7E : BluefinBatt Reply: $aaq0 d- 32.25 0.85 12.40 4.03 4.05 0 24749.37 04:14:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184344.00,3651.01312,N,12153.05690,W,1,11,0.7,-3.37,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184345.00,3651.01335,N,12153.05670,W,1,11,0.7,-4.18,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.32 0.83 11.81 3.95 4.06 0 9908.18 04:14:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184346.00,3651.01327,N,12153.05674,W,1,11,0.7,-4.79,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184347.00,3651.01342,N,12153.05719,W,1,11,0.7,-4.87,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 2.12 13.08 4.03 4.05 0 15956.27 04:14:22 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184348.00,3651.01347,N,12153.05720,W,1,11,0.7,-4.44,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,184349.00,3651.01366,N,12153.05709,W,1,11,0.7,-3.89,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184350.00,3651.01367,N,12153.05687,W,1,11,0.7,-4.10,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184351.00,3651.01377,N,12153.05677,W,1,11,0.7,-4.46,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Seabird/ctdDriver2: error reading voltages : Seabird/ctdDriver2: error reading voltages : AshtechGps::processRecord() - $GPGGA,184352.00,3651.01391,N,12153.05688,W,1,11,0.7,-4.44,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184353.00,3651.01406,N,12153.05698,W,1,11,0.7,-4.31,M,-32.59,M,,*7E : BluefinBatt Reply: $aaq0 d- 32.25 0.92 12.50 4.03 4.05 0 24749.31 04:14:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184354.00,3651.01415,N,12153.05671,W,1,11,0.7,-3.55,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184355.00,3651.01435,N,12153.05612,W,1,11,0.7,-3.43,M,-32.59,M,,*78 : BluefinBatt Reply: $b6q0 d- 32.28 0.83 11.81 3.95 4.06 0 9908.08 04:14:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184356.00,3651.01440,N,12153.05577,W,1,11,0.7,-4.13,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184357.00,3651.01454,N,12153.05596,W,1,11,0.7,-5.08,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 1.25 13.08 4.03 4.05 0 15956.14 04:14:32 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184358.00,3651.01453,N,12153.05637,W,1,11,0.7,-5.17,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,184359.00,3651.01459,N,12153.05664,W,1,11,0.7,-4.60,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184400.00,3651.01467,N,12153.05631,W,1,11,0.7,-3.71,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184401.00,3651.01478,N,12153.05587,W,1,11,0.7,-3.54,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184402.00,3651.01494,N,12153.05581,W,1,11,0.7,-3.99,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184403.00,3651.01513,N,12153.05585,W,1,11,0.7,-4.07,M,-32.59,M,,*73 : BluefinBatt Reply: $aaq0 d- 32.21 1.37 12.50 4.03 4.05 0 24749.18 04:14:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184404.00,3651.01522,N,12153.05568,W,1,11,0.7,-3.89,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184405.00,3651.01528,N,12153.05537,W,1,11,0.7,-3.55,M,-32.59,M,,*74 : BluefinBatt Reply: $b6q0 d- 32.28 0.83 11.91 3.94 4.06 0 9907.99 04:14:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184406.00,3651.01539,N,12153.05518,W,1,11,0.7,-4.07,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184407.00,3651.01548,N,12153.05528,W,1,11,0.7,-4.64,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 1.21 13.08 4.03 4.05 0 15956.04 04:14:42 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184408.00,3651.01561,N,12153.05538,W,1,11,0.7,-4.65,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184409.00,3651.01570,N,12153.05555,W,1,11,0.7,-4.92,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184410.00,3651.01568,N,12153.05565,W,1,11,0.7,-4.12,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184411.00,3651.01581,N,12153.05537,W,1,11,0.7,-3.80,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184412.00,3651.01584,N,12153.05532,W,1,11,0.7,-4.18,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 32.25 0.85 12.50 4.03 4.05 0 24749.10 04:14:47 m : AshtechGps::processRecord() - $GPGGA,184413.00,3651.01599,N,12153.05533,W,1,11,0.7,-3.98,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184414.00,3651.01608,N,12153.05515,W,1,11,0.7,-3.98,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184415.00,3651.01618,N,12153.05502,W,1,11,0.7,-3.96,M,-32.59,M,,*7C : BluefinBatt Reply: $b6q0 d- 32.28 1.15 11.91 3.94 4.06 0 9907.94 04:14:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184416.00,3651.01630,N,12153.05478,W,1,11,0.7,-3.86,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184417.00,3651.01638,N,12153.05460,W,1,11,0.7,-4.36,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.45 1.21 13.08 4.03 4.05 0 15955.91 04:14:52 m : AshtechGps::processRecord() - $GPGGA,184418.00,3651.01656,N,12153.05464,W,1,11,0.7,-4.83,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 4.000000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184419.00,3651.01670,N,12153.05481,W,1,11,0.7,-4.77,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184420.00,3651.01684,N,12153.05500,W,1,11,0.7,-4.53,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184421.00,3651.01688,N,12153.05500,W,1,11,0.7,-4.22,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184422.00,3651.01694,N,12153.05492,W,1,11,0.7,-3.85,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184423.00,3651.01702,N,12153.05474,W,1,11,0.7,-3.76,M,-32.59,M,,*7D : BluefinBatt Reply: $aaq0 d- 32.25 0.85 12.50 4.03 4.05 0 24749.00 04:14:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184424.00,3651.01706,N,12153.05480,W,1,11,0.7,-4.56,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184425.00,3651.01724,N,12153.05465,W,1,11,0.7,-4.10,M,-32.59,M,,*78 : BluefinBatt Reply: $b6q0 d- 32.24 1.91 11.91 3.95 4.06 0 9907.85 04:15:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184426.00,3651.01729,N,12153.05441,W,1,11,0.7,-3.87,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184427.00,3651.01752,N,12153.05413,W,1,11,0.7,-4.13,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.45 1.29 13.08 4.03 4.05 0 15955.78 04:15:02 m : AshtechGps::processRecord() - $GPGGA,184428.00,3651.01753,N,12153.05424,W,1,11,0.7,-4.68,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.003334 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184429.00,3651.01761,N,12153.05449,W,1,11,0.7,-4.86,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184430.00,3651.01772,N,12153.05455,W,1,11,0.7,-4.68,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184431.00,3651.01785,N,12153.05467,W,1,11,0.7,-4.45,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184432.00,3651.01805,N,12153.05472,W,1,11,0.7,-4.04,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184433.00,3651.01809,N,12153.05439,W,1,11,0.7,-3.41,M,-32.59,M,,*75 : BluefinBatt Reply: $aaq0 d- 32.25 0.92 12.50 4.03 4.05 0 24748.94 04:15:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184434.00,3651.01806,N,12153.05374,W,1,11,0.7,-3.38,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184435.00,3651.01824,N,12153.05344,W,1,11,0.7,-4.20,M,-32.59,M,,*71 : BluefinBatt Reply: $b6q0 d- 32.32 0.94 11.91 3.95 4.06 0 9907.78 04:15:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184436.00,3651.01835,N,12153.05368,W,1,11,0.7,-4.90,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184437.00,3651.01858,N,12153.05390,W,1,11,0.7,-4.55,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c0q0 d- 32.41 1.47 13.08 4.03 4.05 0 15955.64 04:15:12 m : AshtechGps::processRecord() - $GPGGA,184438.00,3651.01876,N,12153.05376,W,1,11,0.7,-4.15,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.950000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,184439.00,3651.01884,N,12153.05364,W,1,11,0.7,-4.13,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Supervisor::signalHandler(); caught signal 15 : Supervisor::signalHandler(); Received a SIGTERM or SIGQUIT. DropWeightServer NOT started. : Supervisor::cleanup() - delete _theSupervisor : Supervisor::shutdown() : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2 : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2 : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : TaskServer::signalHandler() for task GulperIFServer - exit() on signal 2 //9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00041810. //9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/statePublisher terminated (SIGSEGV) at 0007:00015F37. : Supervisor::shutdown() - done() : DropWeight Destructor Executing. : TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ctdDriver - exit() on signal 2 : TaskServer::signalHandler() for task ctdDriver2 - exit() on signal 2 : TaskServer::signalHandler() for task IsusIFServer - exit() on signal 2 : Isus:stopping Isus... : **** SharedData destructor for object BluefinBattOutput **** : Lisst:stopping Lisst... : TaskServer::signalHandler() for task FanIFServer - exit() on signal 2 : Fan Destructor Executing. : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : GulperDestructor Executing. : TaskServer::signalHandler() for task ClusterIFServer - exit() on signal 2 : Hydroscat:stopping Hydroscat... : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : **** SharedData destructor for object ctdDriver2SeabirdOutput_ShmemName **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : **** SharedData destructor for object DvlOutput_ShmemName **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18 : **** SharedData destructor for object m3dmgx1Cmd **** : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object GulperOutput **** : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object GulperOutput **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : **** SharedData destructor for object ctdDriver2SeabirdOutput_ShmemName **** : **** SharedData destructor for object IsusOutput_ShmemName **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object cluster.plume **** : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18 : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task ctdDriver - exit() on signal 18 : **** SharedData destructor for object m3dmgx1Cmd **** : TaskServer::signalHandler() for task ctdDriver2 - exit() on signal 18 : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object TailConeOutput_ShmemName **** : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 18 : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 18 : TaskServer::signalHandler() for task FanIFServer - exit() on signal 18 : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : Cluster - destroying the main class. : TaskServer::signalHandler() for task HydroscatIFServer - exit() on signal 2 : **** SharedData destructor for object cluster.plume **** : **** SharedData destructor for object HydroscatOutput_ShmemName **** //9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/cluster terminated (SIGSEGV) at 0007:00030427. : SerialDevice: done... : **** SharedData destructor for object HydroscatOutput_ShmemName **** //9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/hydroscat terminated (SIGSEGV) at 0007:00021197. //9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/lisst terminated (SIGSEGV) at 0007:0001BE8D. : Isus:stopped - response 05/12/2008 18:44:36,14.94,10.91,0.000854 ACK,DeployDataStop  : **** SharedData destructor for object IsusOutput_ShmemName **** : Dvl::~Dvl: Destructor Finished. //9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002456F. : Isus::getIsusConfig() : log file is /home/dorado1/auv_autonomy/auv/altex/onboard/logs/latest/isus.cfg : Isus::getIsusConfig() : getting configuration info : Isus::getIsusConfig(): response is ACK,DeployDataStop : Isus::getIsusConfig(): response is ACK,GetConfiguration : Isus::getIsusConfig(): ACK,GetConfiguration : Isus::getIsusConfig(): // Application Name , ISUS_AUV.C // App Build Date , Aug 14 2006, : Isus::getIsusConfig(): 4:25:32 // Persistor FLASH Info , C82#1041-1.63b // FLASH Card Remaining , 5 : Isus::getIsusConfig(): 1.61% // Fiberlite Odometer , 200:07:26 // Calibration Date , 11/14/20 : Isus::getIsusConfig(): 07 // Sw Calibration Temp , 20.00 // Wavelength Fit Range , 217.582 <-> 240 : Isus::getIsusConfig(): .996 // Fitted Concentrations , 2 // Baseline Model , (ax + b) //9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/isus terminated (SIGSEGV) at 0007:0001E5ED.